Development of a Manta Ray Robot with Underwater Walking Function

摘要

Underwater robots can be classified into various types, such as bio-inspired, thruster , and legged-type robots. The bio-inspired type is efficient, mobile, and low noise . There is a Hybrid-type that combines with the walking functions of the legged-type. Manta ray robots can efficiently swim using their large pectoral fins, but they struggle with seafloor exploration. To address this deficiency a new prototype manta ray robot that integrates the underwater walking function of legged-type robot is proposed. The left and right pectoral fins are each divided into three parts and designed to have six leg-fins. The system is not complex and low-energy consumption, without the additional new leg functions as in the past. Swimming and walking models are constructed using a kinematics model . The experimental performance is evaluated in a real-world environment. The developed manta ray robot demonstrated good swimming and walking capabilities, establishing itself as a prototype for future bio-inspired robots with walking function. • A new prototype is proposed that integrates the underwater walking function • Pectoral fins are each divided into three parts and designed to have six leg-fins • Leg-fins can achieve swimming and walking performance • The trot gait using four leg-fins is faster than the tripod gait using six leg-fins • Structure integrated with walking functions can be utilized for other robots