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An amphibious tensegrity bionic mudskipper robot with asymmetric stiffness pectoral fins
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DOI：10.1088/1361-665X/ae5ffb.png)
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Abstract
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Bionic mudskippers are new amphibious robots, however existing designs lag far behind their biological prototypes in cross-medium locomotion and terrestrial adaptability. To bridge this gap, this paper proposes an untethered tensegrity mudskipper robot with water–land bidirectional locomotion, obstacle crossing, and real-time locomotion adjustment via pectoral-caudal fin coordination. We detail its overall structure and tensegrity X-joint body. The pectoral fins feature an asymmetric stiffness design, providing high stiffness during the power stroke and low stiffness during the recovery stroke. Using a validated tensegrity X-joint kinematic model, the robot generates smooth body waves using a single servo motor to drive the caudal fin. We further model and experimentally validate the crawling process facilitated by the variable-stiffness pectoral fins, quantifying its speed and obstacle-crossing height. Extensive tests demonstrate the wide-range adjustability via pectoral-caudal fin coordination: maximum turning speed increased by 302% and minimum turning radius reduced to 0.57 body lengths. Finally, field tests demonstrated its robust adaptability to complex environments: rough terrain, cobblestone path, water–land transitions, like grassy shores.This work not only provides a novel prototype for amphibious robotic research but also offers new insights into the coordination mechanisms of biological appendages, potentially inspiring future designs in cross-medium locomotion control and bio-inspired robotics.
Keywords:
amphibious robot
tensegrity structure
mudskipper
asymmetric stiffness
cross-medium locomotion
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