小型两栖仿龟机器人多模式运动研究

针对浅滩环境和水下狭窄空间的科研考察、资源勘探等任务，提出一种“腿－多矢量喷水”复合驱动的小型两栖仿龟机器人。通过研究“腿－多矢量喷水”复合式驱动系统的运动机理，设计仿生爬行步态和旋转步态。根据“腿－多矢量喷水”复合驱动机构的变结构特性，提出“H”、“工”和“X”等多模式运动。通过机器人水中运动学建模，建立基于实时动态推力矢量分配优化机制的水中3维自主运动控制方法。最后搭建机器人原型机，陆地上的多地形运动实验验证了机器人在非结构化浅滩环境中的适应能力强，水中运动控制实验验证了两栖机器人多模式运动控制的灵活性和可行性。

Research on Multi-mode Motion of the Miniature Amphibious Turtle-inspired Robot

A miniature amphibious turtle-inspired robot driven by a legged,multi-vectored water-jet composite driving system is proposed for scientific investigation and resource exploration in shallow shoal environment and underwater narrow space.The movement mechanism of the proposed driving system is studied,and bionic crawling and rotation gaits are designed.According to the variable structure characteristics of the proposed driving mechanism,“H”,“I”and“X”mode motion are proposed.By modeling the underwater kinematics,a three-dimensional underwater autonomous motion control method is established based on real-time dynamic thrust vector allocation and optimization mechanism.Finally,movement experiments on various terrains prove that the robot prototype has strong adaptability in unstructured shoal environment.Underwater motion control experiments verify the flexibility and feasibility of multi-mode motion.