光学精密工程2025，Vol.33Issue(17)：2778-2791,14.DOI:10.37188/OPE.20253317.2778
仿生子母机器人的设计与运动控制
Bionic amphibious spherical mother robot and its sub-robot system
摘要
Abstract
To address the limited adaptability and single-functionality of traditional single-robot systems in complex amphibious tasks,a novel bionic amphibious mother-child robot system is proposed.The mother robot features a retractable,turtle-shell-shaped spherical enclosure and integrates four mechanical legs with water-jet propulsion units.The child robot comprises a microstreamlined cabin equipped with a propeller thruster and an underwater short-range visible-light communication module.A gear-meshing mount-and-release mechanism is developed to enable reliable deployment and retrieval of the child robot.To avoid Euler-angle singularities,a six-degree-of-freedom fully coupled dynamic model is formulated using unit quaternions,and a UQ-PID control algorithm is introduced to coordinate the eight servomotors and four water propulsion units of the mother robot.Fluid simulations indicate that the spherical structure effectively re-duces hydrodynamic disturbance and enhances stability.Experimental results demonstrate that the mother ro-bot achieves approximately 60 cm forward locomotion on land within 20 s and maintains a precise straight-line trajectory underwater with minimal deviation and stable thrust.The child robot exhibits a pool trajectory error within±0.30 m and attains a peak speed of 32.51 cm/s.The presented system and methods constitute a feasi-ble technical approach for coordinated amphibious operation of mother-child robotic platforms.关键词
仿生两栖球形母机器人/子机器人/运动控制/流体仿真Key words
bionic amphibious spherical mother robot/sub-robot/motion control/fluid simulation分类
计算机与自动化引用本文复制引用
于慧,马宇科,汪俊杰,郑亮..仿生子母机器人的设计与运动控制[J].光学精密工程,2025,33(17):2778-2791,14.基金项目
吉林省数字农业重点学科资助项目(No.JLXK20180319) （No.JLXK20180319）
