登顶T-RO！清华仿生“海龟”机器人，实现水陆动态环境全自主适应

Core Insights - The article discusses the breakthrough research by Tsinghua University on an intelligent bionic amphibious turtle robot named "IBATR," which can operate effectively in both water and land environments, showcasing high adaptability and performance [3][20]. Group 1: Innovation and Design - IBATR is designed to mimic the physical and movement characteristics of a turtle, providing excellent stability and propulsion capabilities, making it suitable for complex coastal environments [6][7]. - The robot weighs only 10.48 kg, featuring a flat design with a waterproof cylindrical shell and a carbon fiber skeleton, ensuring both strength and lightweight properties [7][10]. Group 2: Sensory and Control Systems - IBATR incorporates a dual-modal perception system that combines visual and tactile information, allowing it to identify terrain types with an accuracy of 99.17% [11][14]. - The control system includes a Raspberry Pi 4B main controller and a STM32F103C8T6 servo control board, enabling real-time data transmission and motion state awareness [10][18]. Group 3: Adaptive Movement and Optimization - The robot can autonomously switch its movement modes based on terrain recognition, optimizing its locomotion for different surfaces such as grass, sand, and water [14][15]. - A Bayesian optimization algorithm is used to enhance movement parameters, achieving a balance between speed and energy efficiency, with improvements in speed by 9.2% and energy efficiency by 25.9% compared to traditional methods [17][19]. Group 4: Testing and Real-World Applications - Extensive testing in various environments, including indoor simulations and real coastal settings, demonstrated IBATR's ability to navigate complex terrains and switch between land and water seamlessly [18][19]. - The robot has potential applications in marine exploration, environmental monitoring, and disaster response, showcasing its versatility and effectiveness in real-world scenarios [20].