Research on Structural Optimization Design and Trajectory Planning of Frog-inspired Robot

摘要

The marine environment is complex and dangerous, underwater robots instead of humans to explore the ocean have become an inevitable trend of future technological development. Frogs are explosive and flexible when they swim, these advantages provide important ideas for designing underwater robots. Based on the previous research results of our team, a new generation of frog inspired robot is designed in this paper. While optimizing structural performance, we add two degrees of freedom to the hip joint. The motion space of the hind limb is obtained through kinematics analysis, combining the observation data of wild frogs, the three-dimensional trajectory of the frog-inspired robot in each motion phase is fitted, and the acceleration planning is focused on the propulsion phase. Finally, the rationality of the trajectory planning and the reliability of the structure are verified through experiments.