Design, Implementation and Experiment Validation of the Turtle-Inspired Robot

This paper designed, implemented, and experimentally validated a turtle robot inspired by sea turtles. Compared with existing turtle-like robots using rigid/semi-rigid hydrofoils and lacking real-time variable stiffness mechanisms, this design features modular structure with forelimbs' variable stiffness hydrofoils for adaptive thrust, hindlimbs' flexible hydrofoils for control, and integrated a center of gravity (COG) adjustment mechanism and a pump-driven buoyancy control system. These innovations enable seamless mode switching between high-thrust flapping and low-power gliding, enhancing hydrodynamic performance and stability. Experiments validated its COG/buoyancy control, limb coordination, and overall mobility in water.