面向复杂环境应用的仿青蛙两栖机器人肌骨骼系统作用机理研究

With unique physical structures, the amphibious frog can achieve efficient motion in land jumping and underwater swimming. Based on frogs’ legged structure which can transform in amphibious motion and the character of high ability to adaption facing complex environment, combined with technical methods including the extraction of kinetic information, anatomy of biology, modeling of structure and simulation of mechanism, the subject will continue to (1)thoroughly study the internal complex physical properties of frog’s biological structures and the driven mechanism of its musculoskeletal system, (2)establish accurate and complete dynamic structure model and simplified structure model of frog’s biological musculoskeletal; obtain the unified structural mathematical model considering both land jumping and underwater swimming function, (3)study the functional mechanism as well as the properties of contact mechanics to the body and the environment based on the structure of webbed feet and ankle joint in the process of frog’s amphibious motion; complete the bionic research and mechanical behavior test of webbed feet mechanism, (4)study the frog-inspired robot and environmental-effects unified dynamics model and amphibious motion control strategy in complex environment, (5)study and fabricate a prototype of frog-inspired amphibious robot using controllable soft material and miniature driving element with high power density ratio; complete the experimental study of the robot under complex unstructured environment, and finally provide important theoretical basis and technical reserve for the development and application in amphibious robotic technology of our country.

两栖生物蛙类借助其特殊的生物结构能够实现高效的陆地跳跃和水下游动。项目将基于青蛙能变换于两栖运动状态的腿式结构，以及对复杂环境具有极强适应能力的特点，结合运动信息提取、生物解剖、结构建模、机构模拟仿真等技术手段，（1）对青蛙内在的复杂生物结构物理特性和肌骨骼系统驱动机理展开深入的研究，（2）建立精确完备的青蛙生物肌骨骼动态结构模型和结构简化模型，得到兼顾陆地跳跃和水下游动功能的统一结构数学模型；（3）研究脚蹼与踝关节结构在青蛙两栖运动过程中对躯体和环境的作用机理和接触力学性能，并进行脚蹼机构的仿生研究和性能实验；（4）研究复杂环境下的仿青蛙机器人与环境作用统一动力学建模和两栖运动控制策略；（5）应用可控柔性材料和高功率密度比、小型化驱动元件研制仿青蛙两栖机器人原理样机，并进行机器人在复杂非结构环境下的实验研究，为我国两栖机器人技术的发展和应用提供重要的理论基础和技术储备。

两栖生物蛙类借助其特殊的生物结构能够实现高效的陆地跳跃和水下游动。项目基于青蛙能变换于两栖运动状态的腿式结构，以及对复杂环境具有极强适应能力的特点，结合运动信息提取、生物解剖、结构建模、机构模拟仿真等技术手段，根据研究内容，完成了如下研究工作：（1）研究了青蛙内在的复杂生物结构物理特性和肌骨骼系统驱动机理，（2）建立了精确完备的青蛙生物肌骨骼动态结构模型和结构简化模型，得到了兼顾陆地跳跃和水下游动功能的统一结构数学模型；（3）研究了脚蹼与踝关节结构在青蛙两栖运动过程中对躯体和环境的作用机理和接触力学性能，设计了基于柔性材料的仿生脚蹼机构；（4）研究了复杂环境下的仿青蛙机器人与环境作用的统一动力学建模和两栖运动控制策略；（5）设计了高功率密度比、小型化燃爆驱动系统，研制了刚柔软于一体仿青蛙两栖机器人原理样机，并进行机器人在复杂非结构环境下的实验研究，为仿青蛙机器人的实际应用积累了技术经验，也为我国两栖机器人技术的发展和应用提供重要的理论基础和技术储备。