Dynamic modeling and experimental analysis of a novel bionic mantis shrimp robot

Small carnivorous marine animals have developed agile movement abilities through long-term natural selection, resulting in excellent maneuverability and high swimming efficiency, making them ideal models for underwater robots. To meet the requirements for exploring narrow underwater zones, this paper designs an underwater robot inspired by mantis shrimp. By analyzing the body structure and swimming mode of the mantis shrimp, we designed a robot structure and hardware system and established a dynamic model for the coupled motion of multiple pleopods. A series of underwater experiments were conducted to verify the dynamic model and assess the performance of the prototype. The experimental results confirmed the accuracy of the dynamic model and demonstrated that the bionic mantis shrimp robot can perform multiangle turns and flexible velocity adjustments and exhibits good motion performance. This approach provides a novel solution for developing robots suitable for detecting complex underwater environments.