Design and research of tortoise-like soft robot based on bending-twisting integrated actuator
WANG Xilong
LU Yimin
XU Wen
LÜ Zhongming
WANG Yong
Abstract：[Objective]Aiming at the problem that existing tortoise-like robots are difficult to balance multi-modal motion and multi-scene adaptation,a bending-twisting integrated actuator with both bending and twisting functions was designed and optimized based on the kinematics characteristics of turtle limbs to realize the amphibious motion and environmental adaptation of the tortoise-like soft robot.[Methods]Firstly,the structural parameters of the actuator were optimized,and its output characteristics were characterized through tests.Secondly,according to the differences in motion modes between terrestrial and marine turtles,asymmetric,symmetric and steering gait planning were constructed,and a pneumatic control scheme was designed.Then,the visual recognition system was integrated.Finally,a robot prototype was fabricated to carry out tests on load capacity,multi-environment motion and obstacle avoidance and object seeking.[Results]Tests show that the robot has a maximum load capacity of 1 145 g(2.6 times its own mass),a speed of 1.15 cm/s(equivalent to 0.058 body length per second)under the terrestrial turtle-like gait,and a speed of 0.59 cm/s(equivalent to 0.03 body length per second)under the marine turtle-like gait.It moves stably in sandy,rugged,slope and shallow water environments,and has the abilities of environmental perception and autonomous obstacle avoidance and object seeking,meeting the design requirements.
Keywords：Tortoise-like soft robotBending-twisting actuatorGait planningControl schemeAutonomous recognition
Publication Date：2026-02-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：16( 45-60 )