Robust Maneuverability in Flipper-Based Systems Across Complex Terrains

Abstract Sea turtle hatchlings display maneuvering capabilities across diverse aquatic and coastal terrains. While turning behavior is crucial in aquatic environments, it is equally vital for terrestrial locomotion by hatchlings that must quickly navigate obstacle-rich terrain on their way to the sea. This study introduces a robotic prototype that emulates the turning strategies of juvenile sea turtles to optimize turning rate and energy consumption across diverse terrestrial surfaces. The research investigates the rotational displacement capabilities of a bioinspired robot across five distinct gait configurations: one involving all flippers in a unique pattern, and four employing reduced flipper combinations, including front, diagonal, back, and single flippers.
We investigated the robot’s turning capabilities on diverse granular and compliant
media, including four specified rock sizes, a consistent foam platform, and dry sand.
Comparative analyses were conducted using rigid and soft flipper designs. Key
locomotion features, including roll, pitch, yaw, and lift height, were quantified for
each configuration. The results reveal significant differences in rotational behavior
across terrains and gait styles, highlighting the interplay between flipper design, gait
strategy, and environmental adaptability. This research advances the understanding
of bioinspired robotics for applications in complex and variable environments.