A method for reconstructing the structure of a multi-segmented ear fungus with all appendages and its coordinated appendage movement.

Abstract

Currently, there is no accurate method for extrapolating the coordinated oscillation system of all appendages in the fully appended multi-segmented ear-like insect structure and its appendage coordinated movement reconstruction method. In the fully appended multi-segmented ear-like insect structure, the left and right vertebrae are set along the length of the bottom trunk frame. The driving element is located at one end of the bottom trunk frame and is connected to the left and right vertebrae respectively. The first set of appendages is hinged to the outside of the left vertebrae, and the second set of appendages is hinged to the outside of the right vertebrae. The shell is fastened to the bottom trunk frame, and two shell flaps are set on the outer wall of the shell. The appendage coordinated movement reconstruction method is to extract motion feature data from the gait of existing crustaceans and arthropods, analyze and plan the appendage gait in the motion feature data, and then use a gait reconstruction mechanism to reconstruct various gaits, thereby completing the process of establishing the appendage movement model of the fully appended multi-segmented ear-like insect structure.

Description

Technical Field

[0001] This invention specifically relates to a fully appendage-type multi-segmented ear-shaped insect structure and a method for restoring its appendage-coordinated movement. Background Technology

[0002] The Cambrian bivalve arthropod *Euonymus multisegmentosus*, a representative species of the Chengjiang Biota, was discovered and reported in the 1990s. Microscopic CT techniques revealed numerous characteristics of *Euonymus multisegmentosus*, identifying it as an ancient ancestor of pancrustaceans. In-depth research into the locomotion mechanisms of *Euonymus multisegmentosus*, including the undulating movements of its various body parts, can reveal its locomotion capabilities—specifically, its ability to hunt and escape predators. This is crucial for understanding its position in the food chain and the evolutionary process of its body parts, and even has significant scientific implications for the study of the primitive characteristics and evolutionary trends of the entire arthropod phylum.

[0003] Based on existing Cambrian fossil data of *Euonymus multisegmentosus*, this study utilizes computer numerical simulation and underwater propulsion experiments with biomimetic robots to reconstruct *Euonymus multisegmentosus* in three dimensions from a mechanical engineering perspective. The invention patent ZL202110224991.1, entitled "Reverse Deduction Reconstruction Method of *Euonymus multisegmentosus* Fossils Based on Incomplete Information," has already reconstructed the movement patterns of the appendages and tail. However, because *Euonymus multisegmentosus* possesses 16 pairs of appendages arranged compactly, and existing methods for reconstructing the limb swing trajectories of surviving crustaceans and arthropods have not yet been developed in a complete and accurate manner, it is difficult to achieve a comprehensive reconstruction of the coordinated swinging motion of all appendages. Summary of the Invention

[0004] This invention provides a fully appendage-type multi-segmented ear-shaped insect structure and a method for restoring its appendage-coordinated movement, in order to solve the above-mentioned problems.

[0005] This invention provides the following technical solution:

[0006] A multi-segmented ear-shaped insect structure with all appendages includes a gait restoration mechanism, a drive unit, an outer shell, and two shell flaps. The gait restoration mechanism includes a base frame, a left spine, a right spine, a first set of appendages, and a second set of appendages. The base frame is a long, multi-segmented frame. The left and right spines are mounted on the base frame along its length. The drive unit is located at one end of the base frame and is connected to the left and right spines respectively. The first set of appendages is hinged to the outer side of the left spine, and the second set of appendages is hinged to the outer side of the right spine. The outer shell is fastened to the base frame along its length, and two shell flaps are provided on the outer wall of the outer shell.

[0007] The left and right spines have the same structure and are symmetrically arranged along the central axis of the length direction of the base torso frame. The first group of appendages and the second group of appendages have the same structure. The first group of appendages includes multiple first single appendages. The left spine includes two first end blocks and multiple first segment blocks. The two first end blocks are respectively hinged to both ends of the base torso frame. Multiple first segment blocks are coaxially connected between the two first end blocks along the length direction of the base torso frame. A first guide gap is formed between two adjacent first segment blocks. One end of each first single appendage is hinged in its nearest first guide gap. The middle part of each first single appendage is hinged to the base torso frame. The other end of each first single appendage is a first free-floating end. The left and right spines drive the first and second groups of appendages to make periodic multi-appendage coordinated swinging movements through the drive component.

[0008] As a preferred embodiment: the first segment block is a cylindrical block, one end face of the first segment block is a first inclined end face, a first conical groove is machined on the first inclined end face, a first connecting sleeve is integrally connected to the center of the first conical groove, the first connecting sleeve is coaxially arranged with the cylindrical block, a second conical groove is machined on the other end of the first segment block, a second connecting sleeve is integrally connected to the center of the second conical groove, the second connecting sleeve is coaxially arranged with the cylindrical block, and the first guide gap is formed between the first conical groove of one first segment block and the second conical groove of the other first segment block in two adjacent first segment blocks.

[0009] As a preferred embodiment: the first single appendage includes a first ball joint, a first connecting rod, a second ball joint, a second connecting rod, and a first fin. The first connecting rod is an L-shaped rod, and the second connecting rod is an arc-shaped rod. One end of the first connecting rod is fixedly connected to the outer wall of the first ball joint, and the other end of the first connecting rod is fixedly connected to the outer wall of the second ball joint. One end of the second connecting rod is fixedly connected to the outer wall of the second ball joint. The first fin is disposed on the second connecting rod along its length direction. The first ball joint is hinged within a first guide gap adjacent to it, and the second ball joint is hinged to the bottom torso frame.

[0010] As a preferred embodiment: the bottom-mounted torso frame includes two support shafts, a front baffle, a rear baffle, and multiple arc-shaped support plates. The two support shafts are arranged horizontally side by side, and the multiple arc-shaped support plates pass through the two support shafts along their length. The outer wall of each arc-shaped support plate is a convex arc wall, and the inner wall of each arc-shaped support plate is a concave arc wall. A second guide gap is formed between two adjacent arc-shaped support plates to engage with a second ball joint. The front baffle is vertically arranged at the front end of the two support shafts and is fixedly connected to the front end of each support shaft. A drive component is arranged on the front baffle, and the power output end of the drive component is connected to the front end of the left spine and the front end of the right spine respectively through a gear assembly. The rear baffle is vertically arranged at the rear end of the two support shafts and is fixedly connected to the rear end of each support shaft. The rear ends of the left spine and the right spine are hinged to the rear baffle respectively.

[0011] A method for restoring the coordinated movement of appendages of a multi-segmented ear-shaped insect is proposed, which utilizes the aforementioned fully appended multi-segmented ear-shaped insect structure. The method involves extracting motion feature data from the gait of existing crustaceans and arthropods, analyzing and planning the appendage gait in the motion feature data, and then analyzing and planning various gaits through a gait restoration mechanism to establish a fully appended multi-segmented ear-shaped insect structure appendage movement model.

[0012] As a preferred approach, the process of observing the gait of existing crustaceans and arthropods and extracting motion feature data is as follows:

[0013] By observing the swimming process of crustaceans and arthropods, the protruding parts where the appendages gather during arthropod movement are identified as the arthropod's locomotor appendages. The contour information of the arthropods is extracted using the DeeplabV3+ model to form a target contour image. The distance curve between the center point and the edge point of the target contour image is then calculated to determine the coordinates of the distal point of the arthropod's locomotor appendage. The coordinates of the distal point of the appendage are then reconstructed and precisely matched. Finally, by analyzing the distance change curve between the distal point of the appendage and the reference point, the gait parameters of the appendage movement are extracted.

[0014] After the image is processed by the DeeplabV3+ model, a target contour segmentation image is output. The distance between the contour center point and the contour edge points can be calculated from the segmentation image. A distance curve is plotted with the contour edge points searched counterclockwise as the horizontal axis and the distance between the contour center point and the contour edge points as the vertical axis. Finally, the local maximum point, i.e., the desired moving leg corner point, is found using the finite difference method. The formula for calculating the distance to the moving leg corner point is:

[0015]

[0016] In the above formula, where: Let j be the coordinates of the outline edge point j in the i-th frame. Let n be the coordinates of the center point of the contour in the i-th frame. i The number of contour edge points within the specified range for the i-th frame is used to obtain the data of the first free-floating endpoint in the first single appendage (6-1) according to the distance calculation formula of the moving leg corner point.

[0017] After obtaining the distal points of the motor appendages, the corresponding motion characteristics, gait cycles, and gait amplitudes of the first group of appendages (6) and the second group of appendages (7) are calculated. The calculation process is as follows:

[0018] Using the number of image frames as the horizontal axis to represent the time period and the number of image pixels as the vertical axis to represent the distance from the end of the limb to the center of the arthropod, a distance variation curve is plotted. The difference in the number of frames between the local maxima of the distance variation curve is the gait period, and the difference in the distance between the local maxima is the gait amplitude.

[0019] As a preferred approach, the process of analyzing and planning appendage gait in motion feature data includes planning the trajectory of a single appendage and planning the coordinated gait of multiple appendages.

[0020] The process of planning the trajectory of a single appendage is as follows:

[0021] Images of the swing trajectories of a single appendage from three types of crustaceans and arthropods were acquired. These trajectories were used as the basis for planning the initial trajectory of the appendage distal movement of the multi-segmented ear-shaped insect. In 3D software, spline curves were used to fit the terminal points of the extracted swing trajectories of the three types of crustaceans and arthropods to form a fitted curve. Then, the appendage lengths of the three types of crustaceans and arthropods were measured to establish a primary model with the first ball hinge as the center and the length of the first single appendage as the radius. The center of the ball in the primary model was projected onto the center of the fitted curve, and the first ball hinge was set... The farthest distance from the center of the sphere to the fitted curve is the length of the first single appendage. By dragging the first single appendage along the fitted curve for one revolution, the motion trajectory of the appendage end point in the spatial coordinate system can be obtained. The spatial curve obtained from the motion trajectory of the appendage end point in the spatial coordinate system is used as the input curve Q(u) in the all-appendage multi-segment ear-shaped insect structure. Based on the working principle of the gait restoration mechanism, the contour curve C(s) of the gait restoration mechanism is derived. Based on the input curve Q(u) and the cylindrical cam contour curve C(s), three appendage motion models of the all-appendage multi-segment ear-shaped insect structure based on the gait restoration mechanism are established.

[0022] The process of multi-pair appendage coordinated gait planning is as follows:

[0023] The planned gait of the appendage-coordinated gait of the multi-segmented ear-shaped insect structure includes overall alternating gait, synchronous gait, and segmented alternating gait;

[0024] The overall alternating gait includes a push phase and a return phase, which together constitute a complete appendage swing cycle. The push phase refers to the stage in which the bionic robot's appendage propels the water flow during one swing cycle. In the push phase, the appendage generates thrust on the water flow, enabling the robot to swim or crawl. The return phase refers to the stage in which the bionic robot's appendage retracts and stores energy during one swing cycle. In the return phase, the appendage does not generate thrust on the water flow, and the robot is in a non-moving state.

[0025] The segmented alternating gait has the same form as the overall alternating gait, and the segmented alternating gait is a part of the overall alternating gait.

[0026] As a preferred approach, the process of establishing a fully appendage-type multi-segmented ear-shaped insect structural model through gait restoration mechanism analysis and planning of various gaits is as follows:

[0027] The specified swing trajectory Q(u) and the derived cam profile curve C(s) are obtained through the single appendage swing planning process. After enveloping the cam profile curve C(s) according to the cylindrical cam design method, the cylindrical cam data driving the single appendage swing is obtained. Then, the linkage and cam fixed support model are established to obtain a complete cylindrical cam-linkage mechanism model. The appendage end trajectory curves corresponding to the three swing modes in the three full-appendage multi-segment ear-shaped insect structure appendage motion models based on the composite cylindrical cam-linkage mechanism are the input curves Q1(u), Q2(u), and Q3(u), respectively. The center p of the sphere on which the input curves Q1(u), Q2(u), and Q3(u) are located are determined according to the geometry of the input curves Q1(u), Q2(u), and Q3(u). s Based on the position and objective function in absolute coordinates, and through search space and constraint conditions, structural models of the multi-segmented ear-shaped insect with all appendages under the single appendage swinging mode of three crustaceans and arthropods are established.

[0028] Compared with the prior art, the present invention provides a fully appendage-type multi-segmented ear-shaped insect structure and a method for restoring appendage-assisted coordinated movement, which has the following beneficial effects:

[0029] I. The fully appendage-type multi-segmented ear-shaped insect structure in this invention is a multi-segmented ear-shaped insect robotic insect with a fully appendage-type structure, which is independently synthesized and researched based on existing crustaceans and arthropods. Through the cooperation between the gait restoration mechanism, the drive component, the outer shell, and the two shell lobes, the original structure of the multi-segmented ear-shaped insect can be completely restored. The gait restoration mechanism can realize the swinging process of multi-mode gait under the fully appendage-type structure through the cooperation between the bottom trunk frame, the left spine, the right spine, the first group of appendages, and the second group of appendages. This facilitates a direct and in-depth exploration of the movement patterns of the multi-segmented ear-shaped insect, and can then be extended to the dynamic analysis of other Cambrian arthropods, providing quantitative analytical evidence for paleontology and paleoecology, while also providing new guiding ideas for the development of robotics engineering.

[0030] II. This invention involves extracting motion feature data from the gait of existing crustaceans and arthropods, analyzing and planning the gait of appendages in the motion feature data, and then analyzing and planning various gait patterns through a gait restoration mechanism to establish a motion model of the appendages of a multi-segmented ear-shaped insect structure. This provides a complete and standardized guiding method for the development of robotics engineering and facilitates the quantitative acquisition of diverse gait data of multiple appendages in multi-segmented ear-shaped insects. Attached Figure Description

[0031] Figure 1 This is a first three-dimensional structural diagram of the fully appended multi-segmented ear-shaped insect structure in this invention;

[0032] Figure 2 This is a second three-dimensional structural diagram of the fully appended multi-segmented ear-material insect structure in this invention. The bottom trunk frame is removed from the diagram, and only the front and rear baffles in the bottom trunk frame are retained.

[0033] Figure 3 This is a three-dimensional structural diagram showing the bottom torso frame, left spine, and right spine in a disassembled state.

[0034] Figure 4 This is a schematic diagram of the first three-dimensional structure of the gait recovery mechanism;

[0035] Figure 5 This is a schematic diagram of the second three-dimensional structure of the gait recovery mechanism, in which the driving component is in a disassembled state.

[0036] Figure 6 A three-dimensional structural diagram showing the connection relationship between the first bony segment, the second bony segment, the first single appendage, and the second single appendage;

[0037] Figure 7 This is a schematic diagram of the main view structure of the left spine in an aperiodic state. The main view structure of the right spine in an aperiodic state is consistent with the structure shown in this diagram.

[0038] Figure 8 This is a schematic diagram of the main view structure of the right spine in a one-cycle state. The main view structure of the left spine in a one-cycle state is consistent with the structure shown in this diagram.

[0039] Figure 9 This is a schematic diagram of the main view structure of the left spine in the two-cycle state. The main view structure of the right spine in the non-two-cycle state is consistent with the structure of this diagram.

[0040] Figure 10 This is a schematic diagram of the main view structure of the right spine in the three-cycle state. The main view structure of the left spine in the three-cycle state is consistent with the structure shown in this diagram.

[0041] Figure 11 This is a front view schematic diagram of the gait recovery mechanism in a non-periodic state.

[0042] Figure 12 This is a front view schematic diagram of the gait recovery mechanism in a one-cycle state.

[0043] Figure 13 This is a schematic diagram of the gait recovery mechanism in a two-cycle state.

[0044] Figure 14 This is a schematic diagram of the gait recovery mechanism in a three-cycle state.

[0045] Figure 15 A time-series diagram of the coordinated gait of multiple appendages in three organisms: brine shrimp, horseshoe crab, and mantis shrimp.

[0046] Figure 16(a) is a schematic diagram of the process of fitting the extracted end points of three biological appendages with spline curves in the three-dimensional software during the planning of a single appendage swing.

[0047] Figure 16(b) is a schematic diagram of the motion trajectory of the first free end of the first single appendage in the spatial coordinate system after dragging the appendage along the fitted curve for one sweep during the single appendage swing planning process.

[0048] Figure 16(c) is a schematic diagram of the derivation process of the contour curve of the first bone segment in the swing planning process of a single appendage;

[0049] Figure 17 A schematic diagram comparing the timing of four types of appendage coordinated gait;

[0050] Figure 18(a) is a schematic diagram of the geometric contour trajectory of the first skeletal segment in the gait restoration mechanism;

[0051] Figure 18(b) is a schematic diagram of the three-dimensional model of the first skeletal segment in the gait restoration mechanism during the model building process;

[0052] Figure 19 A schematic diagram illustrating the oscillation changes of a brine shrimp model under different cycles;

[0053] Figure 20 A schematic diagram illustrating the oscillation changes of a horseshoe crab in different cycles;

[0054] Figure 21 A schematic diagram illustrating the oscillation changes of a mantis shrimp under different cycles;

[0055] Figure 22 This is a schematic diagram of the model structure under the overall alternating gait state. In the diagram, the corresponding gait recovery mechanism is in a one-cycle state. The movement patterns of the left spine 2 and the right spine 3 are the same, but in opposite directions.

[0056] Figure 23 This is a schematic diagram of the model structure under two alternating gait states. The corresponding gait recovery mechanism in the figure is in a two-cycle state, and the movement patterns of the left spine 2 and the right spine 3 are the same but opposite in direction.

[0057] Figure 24 This is a schematic diagram of the model structure under three alternating gait states. The corresponding gait recovery mechanism in the figure is in a three-cycle state. The movement patterns of the left spine 2 and the right spine 3 are the same, but in opposite directions.

[0058] Figure 25 This is a schematic diagram of the model structure in a synchronized gait state, where the corresponding gait recovery mechanism is in a non-periodic state.

[0059] Figure 26 This is a three-dimensional structural diagram of the first single appendage.

[0060] In the diagram, 1-bottom torso frame; 1-1-support shaft; 1-2-front baffle; 1-3-rear baffle; 1-4-arc-shaped support plate; 1-5-second guide gap; 2-left spine; 2-1-first end block; 2-2-first bone segment block; 2-2-1-first conical groove; 2-2-2-first connecting bushing; 2-2-3-second conical groove; 2-2-4-second connecting bushing; 2-3-first guide gap; 3-right spine; 3-1-second end block; 3-2-second bone segment block; 3-2-1-third conical groove; 3-2-2-third connecting bushing; 3-2-3-fourth conical groove; 3-2-4-fourth connecting bushing; 3-3-third guide gap; 4-drive component; 5-Outer shell; 6-First set of appendages; 6-1-First single appendage; 6-1-1-First ball joint; 6-1-2-First connecting rod; 6-1-3-Second ball joint; 6-1-4-Second connecting rod; 6-1-5-First fin; 6-1-6-Limiting frame; 7-Second set of appendages; 7-1-Second single appendage; 7-1-1-Third ball joint; 7-1-2-Third connecting rod; 7-1-3-Fourth ball joint; 7-1-4-Fourth connecting rod; 7-1-5-Second fin; 8-Shell flap; 9-Main gear; 10-First driven gear; 11-Second driven gear; 12-First through shaft; 13-Second through shaft; 14-Front limiting plate; 15-Rear limiting plate; 16-Outer spiral limiting protrusion. Detailed Implementation

[0061] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] Specific implementation method one: Combining Figures 1 to 26 This embodiment describes a fully appendage-type multi-segmented ear-shaped insect structure, which includes a gait restoration mechanism, a drive component 4, an outer shell 5, and two shell flaps 8. The gait restoration mechanism includes a base frame 1, a left spine 2, a right spine 3, a first set of appendages 6, and a second set of appendages 7. The base frame 1 is a long, multi-segmented frame. The left spine 2 and right spine 3 are arranged on the base frame 1 along its length. The drive component 4 is located at one end of the base frame 1 and is connected to the left spine 2 and right spine 3, respectively. The first set of appendages 6 is hinged to the outside of the left spine 2, and the second set of appendages 7 is hinged to the outside of the right spine 3. The outer shell 5 is fastened to the base frame 1 along its length, and two shell flaps 8 are provided on the outer wall of the outer shell 5.

[0063] The left spine 2 and right spine 3 have the same structure and are symmetrically arranged along the central axis of the length direction of the base torso frame 1. The first group of appendages 6 and the second group of appendages 7 have the same structure. The first group of appendages 6 includes multiple first single appendages 6-1. The left spine 2 includes two first end blocks 2-1 and multiple first bone segments 2-2. The two first end blocks 2-1 are respectively hinged to both ends of the base torso frame 1. Multiple first bone segments 2-2 are coaxially connected between the two first end blocks 2-1 along the length direction of the base torso frame 1. A first guide gap 2-3 is formed between two adjacent first bone segments 2-2. One end of each first single appendage 6-1 is hinged in the first guide gap 2-3 it is close to. The middle part of each first single appendage 6-1 is hinged to the base torso frame 1. The other end of each first single appendage 6-1 is a first tug-of-war end.

[0064] The second set of appendages 7 includes multiple second single appendages 7-1; the right spine 3 includes two second end blocks 3-1 and multiple second bone segments 3-2. The two second end blocks 3-1 are respectively hinged to both ends of the bottom trunk frame 1. Multiple second bone segments 3-2 are coaxially connected between the two second end blocks 3-1 along the length direction of the bottom trunk frame 1. A third guide gap 3-3 is formed between two adjacent second bone segments 3-2. One end of each second single appendage 7-1 is hinged in its adjacent third guide gap 3-3. The middle part of each second single appendage 7-1 is hinged to the bottom trunk frame 1. The other end of each second single appendage 7-1 is a second tug-of-war free end.

[0065] The driving component 4 provides the starting force for the gait recovery mechanism. The driving component 4 is fixedly connected to the front end of the bottom torso frame 1. A main gear 9 is mounted on the power output end of the driving component 4. The main gear 9 is meshed with a first driven gear 10 and a second driven gear 11. The first driven gear 10 is mounted on the front end of the left spine 2, and the second driven gear 11 is mounted on the front end of the right spine 3. The first driven gear 10 and the second driven gear 11 mesh with each other. The main gear 9 meshes with the first driven gear 10. When the driving component 4 rotates, the main gear 9, the first driven gear 10, and the second driven gear 11 mesh with each other, driving the left spine 2 and the right spine 3 to rotate.

[0066] In addition, the two ends of the bottom torso frame 1 are respectively provided with a front limiting plate 14 and a rear limiting plate 15. The front limiting plate 14 and the rear limiting plate 15 are used to position the end positions of the left spine 2 and the right spine 3, respectively. The outer walls of the front limiting plate 14 and the rear limiting plate 15 cooperate with the outer shell 5 to achieve stable locking and fastening with the bottom torso frame 1.

[0067] The second segment 3-2 is a cylindrical block. One end face of the first segment 2-2 is a first inclined end face, and a first conical groove 2-2-1 is machined on the first inclined end face. A first connecting sleeve 2-2-2 is integrally connected to the center of the first conical groove 2-2-1. The first connecting sleeve 2-2-2 is coaxially arranged with the cylindrical block. A second conical groove 2-2-3 is machined on the other end of the first segment 2-2. A second connecting sleeve 2-2-4 is integrally connected to the center of the second conical groove 2-2-3. The second connecting sleeve 2-2-4 is coaxially arranged with the cylindrical block. The first guide gap 2-3 is formed between the first conical groove 2-2-1 of one first segment 2-2 and the second conical groove 2-2-3 of the other first segment 2-2.

[0068] Similarly, the second segment block 3-2 is a cylindrical block. One end face of the second segment block 3-2 is a third inclined end face. A third conical groove 3-2-1 is machined on the third inclined end face. A third connecting bushing 3-2-2 is integrally connected to the center of the third conical groove 3-2-1. The third connecting bushing 3-2-2 is coaxially arranged with the cylindrical block. A fourth conical groove 3-2-3 is machined on the other end of the second segment block 3-2. A fourth connecting bushing 3-2-4 is integrally connected to the center of the fourth conical groove 3-2-3. The fourth connecting bushing 3-2-4 is coaxially arranged with the cylindrical block. The third guide gap 3-3 is formed between the third conical groove 3-2-1 of one second segment block 3-2 and the fourth conical groove 3-2-3 of the other second segment block 3-2.

[0069] In this embodiment, the first segment block 2-2 and the second segment block 3-2 have the same structural form, which is essentially a cylindrical cam structure.

[0070] Furthermore, an outer spiral limiting protrusion 16 is provided on the outer circumferential wall of the first bone segment 2-2. The outer spiral limiting protrusion 16 is arranged along the outer circumferential direction of the first bone segment 2-2 and is a non-closed spiral structure. It is used to cooperate with the inner wall of the bottom torso frame 1 to form a directional limiting process during rotation. The inner wall of the bottom torso frame 1 is machined with an arc-shaped limiting groove that cooperates with the outer spiral limiting protrusion 16. During the rotation of the first bone segment 2-2, a part of the outer spiral limiting protrusion 16 is always in the arc-shaped limiting groove. This part of the outer spiral limiting protrusion 16 changes continuously with the rotation of the first bone segment 2-2. Correspondingly, each second bone segment 3-2 is provided with another outer spiral limiting protrusion 16. The arrangement and function of the outer spiral limiting protrusion 16 are the same as those of the outer spiral limiting protrusion 16 provided on the outer circumferential wall of the first bone segment 2-2.

[0071] In this embodiment, the first single appendage 6-1 includes a first ball joint 6-1-1, a first connecting rod 6-1-2, a second ball joint 6-1-3, a second connecting rod 6-1-4, and a first fin 6-1-5. The first connecting rod 6-1-2 is an L-shaped rod, and the second connecting rod 6-1-4 is an arc-shaped rod. One end of the first connecting rod 6-1-2 is fixedly connected to the outer wall of the first ball joint 6-1-1, and the other end of the first connecting rod 6-1-2 is fixedly connected to the outer wall of the second ball joint 6-1-3. One end of the second connecting rod 6-1-4 is fixedly connected to the outer wall of the second ball joint 6-1-3. The first fin 6-1-5 is arranged on the second connecting rod 6-1-4 along the length direction of the second connecting rod 6-1-4. The first ball joint 6-1-1 is hinged in the first guide gap 2-3 near it, and the second ball joint 6-1-3 is hinged to the bottom torso frame 1.

[0072] Furthermore, the first connecting rod 6-1-2 is an L-shaped rod, and the outer wall at the intersection of its vertical and horizontal sections is a protruding tip, which is used to form an external support point. The external support points of multiple first single appendages 6-1 form an arc-shaped line with a central protrusion and two downward ends, which is adapted to the internal shape of the shell flap 8.

[0073] Furthermore, the second ball joint 6-1-3 is fitted with a limiting frame 6-1-6, which is a square frame with mounting holes along its thickness. The second ball joint 6-1-3 is hinged in the mounting holes. The limiting frame 6-1-6 cooperates with the bottom torso frame 1 to limit the rotation range of the second ball joint 6-1-3 within the second guide gap 1-5 of the bottom torso frame 1, thus preventing the second ball joint 6-1-3 from disengaging from the second guide gap 1-5.

[0074] In this embodiment, the second single appendage 7-1 includes a third ball joint 7-1-1, a third connecting rod 7-1-2, a fourth ball joint 7-1-3, a fourth connecting rod 7-1-4, and a second fin 7-1-5. The third connecting rod 7-1-2 is an L-shaped rod, and the fourth connecting rod 7-1-4 is an arc-shaped rod. One end of the third connecting rod 7-1-2 is fixedly connected to the outer wall of the third ball joint 7-1-1, and the other end of the third connecting rod 7-1-2 is fixedly connected to the outer wall of the fourth ball joint 7-1-3. One end of the fourth connecting rod 7-1-4 is fixedly connected to the outer wall of the fourth ball joint 7-1-3. The second fin 7-1-5 is arranged on the fourth connecting rod 7-1-4 along its length. The third ball joint 7-1-1 is hinged in its adjacent third guide gap 3-3, and the fourth ball joint 7-1-3 is hinged to the bottom torso frame 1.

[0075] The number of first single appendages 6-1 is 12 to 16. Correspondingly, the 12 to 16 first single appendages 6-1 are partially the same and partially different. The first single appendages 6-1 of the same length are concentrated in the middle of the left spine 2, and the number does not exceed 5. The length of the other first single appendages 6-1 decreases sequentially from the middle of the left spine 2 to both ends of the left spine 2. The number of second single appendages 7-1 is 12 to 16. The number of first single appendages 6-1 is the same as the number of second single appendages 7-1, and they are configured one-to-one.

[0076] The bottom-mounted trunk frame 1 is formed according to the multi-segmented abdominal sac of arthropods or crustaceans. The bottom-mounted trunk frame 1 includes a front baffle 1-2, a rear baffle 1-3, two support shafts 1-1, and multiple arc-shaped support plates 1-4. The two support shafts 1-1 are arranged horizontally side by side. The multiple arc-shaped support plates 1-4 are inserted through the two support shafts 1-1 along the length direction of the support shafts 1-1. The outer wall of each arc-shaped support plate 1-4 is a convex arc wall, and the inner wall of each arc-shaped support plate 1-4 is a concave arc wall. A second guide gap 1-5 is formed between two adjacent arc-shaped support plates 1-4 to cooperate with the second ball joint 6-1-3. The front baffle 1-2 is vertically arranged at the front end of the two support shafts 1-1 and is fixedly connected to the front end of each support shaft 1-1. The driving component 4 is arranged on the front baffle 1-2. The power output end of the driving component 4 is connected to the front end of the left spine 2 and the front end of the right spine 3 respectively through a gear assembly.

[0077] The rear baffle 1-3 is vertically set at the rear end of the two support shafts 1-1. The rear baffle 1-3 is fixedly connected to the rear end of each support shaft 1-1. The rear end of the left spine 2 and the rear end of the right spine 3 are respectively hinged to the rear baffle 1-3.

[0078] The left spine 2 and right spine 3 drive the first set of appendages 6 and the second set of appendages 7 to perform periodic multi-appendage coordinated swinging movements via the drive component 4.

[0079] Specific Implementation Method Two: This implementation method is a further limitation of Specific Implementation Method One. In this implementation method, a first through shaft 12 is provided between multiple first bone segments 2-2. A first driven gear 10 is fitted at the front end of the first through shaft 12. The two ends of the first through shaft 12 pass through two first end blocks 2-1 respectively. Each first bone segment 2-2 is machined with a first central hole along its thickness direction. The first central hole is coaxially connected with the first connecting bushing 2-2-2 and the second connecting bushing 2-2-4 respectively. Each first bone segment 2-2 is fixedly fitted on the first through shaft 12 through the first central hole. Each first bone segment 2-2 rotates synchronously with the rotation of the first through shaft 12, thereby forming multiple first bone segments 2-2 rotating coaxially. The first guide gap 2-3 formed between two adjacent first bone segments 2-2 rotates synchronously, and the first single appendage 6-1 in the first guide gap 2-3 swings at multiple angles under the upper and lower limit clamping of the bottom torso frame 1 and the outer shell 5.

[0080] In this embodiment, a second through shaft 13 is provided between multiple second bone segments 3-2. A second driven gear 11 is fitted at the front end of the second through shaft 13. The two ends of the second through shaft 13 pass through two second end blocks 3-1 respectively. Each second bone segment 3-2 is machined with a second center hole along its thickness direction. The second center hole is coaxially connected to the third connecting bushing 3-2-2 and the fourth connecting bushing 3-2-4 respectively. Each second bone segment 3-2 is fixedly fitted on the second through shaft 13 through the second center hole. Each second bone segment 3-2 rotates synchronously with the rotation of the second through shaft 13, thereby forming multiple second bone segments 3-2 rotating coaxially. The third guide gap 3-3 formed between two adjacent second bone segments 3-2 rotates synchronously, coordinating with the multi-angle swinging motion of the second single appendage 7-1 within the third guide gap 3-3 under the upper and lower limit clamping of the bottom torso frame 1 and the outer shell 5.

[0081] The swing postures of the first group of appendages 6 and the second group of appendages 7, which are in the same cycle state, have the same trend and are symmetrically arranged. Multiple first bone segments 2-2 in the same cycle state are simultaneously in a counterclockwise or clockwise rotation state. Similarly, multiple second bone segments 3-2 in the same cycle state are simultaneously in a counterclockwise or clockwise rotation state.

[0082] Specific implementation method three: Combining Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 , Figure 22 , Figure 23 , Figure 24 , Figure 25 and Figure 26 As shown, this embodiment is a further limitation of specific embodiment one or two. In this embodiment, the gait recovery mechanism is in a non-periodic, one-periodic, two-periodic, or three-periodic oscillation state. The gait recovery mechanism is in each different period state through the synergistic action of the left spine 2 and the right spine 3. The rotational postures of the left spine 2 and the right spine 3 are symmetrically set, and the rotational trends are symmetrical and consistent. Specifically:

[0083] Combination Figure 7 and Figure 11 As shown, when the gait recovery mechanism is in a non-periodic state, each of the first bone segments 2-2 in the left spine 2 and each of the second bone segments 3-2 in the right spine 3 are in a static, non-rotating state.

[0084] Combination Figure 8 and Figure 12 As shown, when the gait recovery mechanism is in a one-cycle state, the first bone segment 2-2 closest to the bottom torso frame 1 in the left spine 2 rotates exactly one full circle compared to the first bone segment 2-2 closest to the other end of the bottom torso frame 1. That is, the relative position of the two first bone segments 2-2 at the tail position rotates 360 degrees. At this time, all the first bone segments 2-2 cooperate to form a complete cycle of rotation. The rotation angle of each adjacent first bone segment 2-2 is uniform. That is, when there are 11 first bone segments 2-2, the difference in the central angle between two adjacent first bone segments 2-2 is 32.73 degrees. When there are 15 first bone segments 2-2, the difference in the central angle between two adjacent first bone segments 2-2 is 24 degrees.

[0085] Combination Figure 9 and Figure 13As shown, when the gait recovery mechanism is in the two-cycle state, each of the first bone segments 2-2 in the left spine 2 is divided into two groups of rotating parts. Each group of rotating parts includes several first bone segments 2-2, and the number of first bone segments 2-2 in each group of rotating parts is the same. Compared with the first bone segment 2-2 near the bottom torso frame 1, the first bone segment 2-2 in each group of rotating parts is rotated exactly once, that is, rotated 360 degrees. At this time, all the first bone segments 2-2 cooperate with each other and coexist in two complete cycles of rotation. That is, the rotation posture of the two rotating parts is the same and coexists. The rotation angle of each adjacent first bone segment 2-2 is uniform. That is, when the number of first bone segments 2-2 is 12, each group of rotating parts includes 6 first bone segments 2-2, and the difference in the central angle between two adjacent first bone segments 2-2 in each group of rotating parts is 60 degrees. When there are 16 first bone segments 2-2, each group of rotating parts includes 8 first bone segments 2-2, and the difference in central angle between two adjacent first bone segments 2-2 is 45 degrees.

[0086] Combination Figure 10 and Figure 14 As shown, when the gait recovery mechanism is in the three-cycle state, each of the first bone segments 2-2 in the left spine 2 is divided into three groups of rotating parts. Each group of rotating parts includes several first bone segments 2-2, and the number of first bone segments 2-2 in each group of rotating parts is the same. Compared with the first bone segment 2-2 near the bottom torso frame 1, the first bone segment 2-2 in each group of rotating parts rotates exactly one full circle, that is, rotates 360 degrees. At this time, all the first bone segments 2-2 cooperate with each other and coexist in three complete cycles of rotation. That is, the rotation posture of the three rotating parts is the same and coexists. The rotation angle of each adjacent first bone segment 2-2 in each group of rotating parts is uniform. That is, when the number of first bone segments 2-2 is 12, each group of rotating parts includes four first bone segments 2-2, and the difference in the central angle between two adjacent first bone segments 2-2 in each group of rotating parts is 90 degrees. When there are 15 first bone segments 2-2, each group of rotating parts includes 5 first bone segments 2-2, and the difference in central angle between two adjacent first bone segments 2-2 is 72 degrees.

[0087] Specific implementation method four: Combination Figures 1 to 26 This embodiment describes the restoration method as follows: observing and extracting motion feature data from the gait of existing crustaceans and arthropods, analyzing and planning the appendage gait in the motion feature data, and then using a gait restoration mechanism to establish a full-appendage, multi-segmented ear-shaped insect structure appendage motion model for the analyzed and planned gait.

[0088] In this embodiment, the crustacean is selected as horseshoe crab and the arthropod as brine shrimp. The gait of extant organisms such as brine shrimp and horseshoe crab is observed, extracted, and analyzed for movement characteristics. Then, based on the extracted gait of extant organisms, the appendage gait of *Eriocheir spp.* is planned, and other possible gaits are also assigned to the appendages of *Eriocheir spp.* to increase the diversity of movement gait. Finally, a full-appendage structure appendage movement model of *Eriocheir spp.* is established based on the planned multiple gaits using a composite cylindrical cam-linkage mechanism.

[0089] Specific Implementation Method Five: This implementation method is a further limitation of Specific Implementation Method Four. In this implementation method, by observing the swimming process of arthropods, the protruding parts where the appendages gather during arthropod movement are identified as the arthropod's locomotor appendages. The contour of brine shrimp is extracted using the DeeplabV3+ model.

[0090] The DeeplabV3+ model in this embodiment is an improved DeeplabV3+ semantic segmentation model. It is an existing model, and its operating principle is the same as that of existing improved DeeplabV3+ semantic segmentation models. This model is used to extract the contour information of brine shrimp.

[0091] In this embodiment, the process of observing and extracting gait data of existing crustaceans and arthropods to form motion feature data is as follows:

[0092] By observing the swimming process of crustaceans and arthropods, the protruding parts where the appendages gather during arthropod movement are identified as the arthropod's locomotor appendages. The contour information of the arthropods is extracted using the DeeplabV3+ model to form a target contour image. The distance curve between the center point and the edge point of the target contour image is then calculated to determine the coordinates of the end points of the arthropod's locomotor appendages. Finally, the coordinates of the end points of the appendages are reconstructed and precisely matched.

[0093] After the image is processed by the DeeplabV3+ model, a target contour segmentation image is output. The distance between the contour center point and the contour edge points can be calculated from the segmentation image. A distance curve is plotted with the contour edge points searched counterclockwise as the horizontal axis and the distance between the contour center point and the contour edge points as the vertical axis. Finally, the local maximum point, i.e., the desired moving leg corner point, is found using the finite difference method. The formula for calculating the distance to the moving leg corner point is:

[0094]

[0095] In the above formula, where: Let j be the coordinates of the outline edge point j in the i-th frame. Let n be the coordinates of the center point of the contour in the i-th frame. iThe number of contour edge points within the specified range for the i-th frame is used to obtain the data of the first free-floating endpoint in the first single appendage (6-1) according to the distance calculation formula of the moving leg corner point.

[0096] After obtaining the data of the first free-end point of the first tactile stimulation, the corresponding motion characteristics, gait period, and gait amplitude of the first single appendage 6-1 in the first group of appendages 6 are calculated. The calculation process is as follows:

[0097] Using the number of image frames as the horizontal axis to represent the time period and the number of image pixels as the vertical axis to represent the distance from the distal end of the limb to the center point of the arthropod, a distance variation curve is plotted. By analyzing the difference in the number of frames between the local maxima of the distance variation curve, the gait period is determined, and the distance difference between the local maxima is determined, which is the gait amplitude. The same derivation process is used for the calculation of the second single limb in 7-1.

[0098] In this embodiment, the extraction results of movement characteristics from brine shrimp, horseshoe crabs, and mantis shrimp show that the periodic gait of multiple pairs of appendages in these three organisms exhibits the same pattern: the first pair of appendages swings alternately from the last pair to complete one gait cycle, and then the next cycle begins with the swinging of the first pair of appendages. This coordinated gait is named "holistic alternating gait." Figure 15 The diagram shows the gait timing within one cycle. The horizontal axis represents the coordinated gait cycle of all appendages; the vertical axis represents the gait from the first appendage to the nth appendage; the black rectangle represents the swing of a single appendage, which corresponds to the time when that appendage begins to swing in a complete gait cycle on the horizontal axis. As can be seen from the diagram, the appendages swing alternately from the first to the nth appendage, completing the entire gait cycle when the last appendage completes its swing.

[0099] Specific Implementation Method Six: This implementation method is a further limitation of Specific Implementation Method Four or Five. The process of analyzing and planning the gait of appendages in motion feature data includes the planning process of a single appendage movement trajectory and the planning process of coordinated gait of multiple appendages.

[0100] The process of planning the trajectory of a single appendage is as follows:

[0101] The three crustaceans and arthropods involved in the single appendage movement trajectory planning process are brine shrimp, horseshoe crab, and mantis shrimp. First, images of the single appendage swing trajectories of these three crustaceans and arthropods are acquired. These single appendage swing trajectories are used as the basis for planning the initial trajectory of the appendage distal movement of the multi-segmented ear-shaped ... The center of the sphere in the model is projected onto the center of the fitted curve. The farthest distance from the center of the sphere to the fitted curve is set as the length of the appendage of the organism. The appendage is dragged along the fitted curve for one revolution, and the motion trajectory of the end point of the appendage in the spatial coordinate system can be obtained. The spatial curve obtained from the motion trajectory of the end point of the appendage in the spatial coordinate system is used as the input curve Q(u) in the compound cylindrical cam-linkage mechanism. According to the design principle of the compound cylindrical cam-linkage mechanism, the cylindrical cam profile curve C(s) is derived. Based on the input curve Q(u) and the cylindrical cam profile curve C(s), three appendage motion models of multi-segment ear-shaped insect bionic robot based on the compound cylindrical cam-linkage mechanism are established.

[0102] The process of multi-pair appendage coordinated gait planning is as follows:

[0103] The planned gait of the multi-segmented ear-shaped insect bionic robot includes overall alternating gait, synchronous gait, and segmented alternating gait;

[0104] The overall alternating gait includes a push phase and a return phase, which together constitute a complete appendage swing cycle. The push phase refers to the stage in which the bionic robot's appendage propels the water flow during one swing cycle. In the push phase, the appendage generates thrust on the water flow, enabling the robot to swim or crawl. The return phase refers to the stage in which the bionic robot's appendage retracts and stores energy during one swing cycle. In the return phase, the appendage does not generate thrust on the water flow, and the robot is in a non-moving state.

[0105] The segmented alternating gait has the same form as the overall alternating gait, and the segmented alternating gait is a part of the overall alternating gait.

[0106] Specific Implementation Method Seven: This implementation method is a further limitation of Specific Implementation Methods Four, Five, or Six. It describes the process of establishing a multi-segment ear-shaped insect bionic robot appendage motion model through gait restoration mechanism analysis and planning of various gaits: obtaining the specified swing trajectory Q(u) and the derived cam profile curve C(s) through the single appendage swing planning process; and obtaining the cylindrical cam data that drives the swing of the single appendage by enveloping the cam profile curve C(s) according to the cylindrical cam design method.

[0107] The specific process of enveloping the cam profile curve C(s) according to the design method of cylindrical cam is as follows: the cam profile curve C(s) is a closed spatial curve, which is generated in 3D software. Then, a cylinder is drawn so that C(s) falls on the surface of the cylinder. Using the first ball joint 6-1-1 as the tool, the cylindrical cam can be accurately cut out by cutting around the cylindrical surface along the path C(s).

[0108] Using the data of the cylindrical cam that drives the swing of a single appendage, a model of the connecting rod and the cam fixing bracket is established, resulting in a complete model of the cylindrical cam-connecting rod mechanism. Figure 16(a) , 16(b) As shown in Figure 16(c), a complete cylindrical cam-linkage mechanism model includes two first skeletal blocks 2-2, two second skeletal blocks 3-2, a first single appendage 6-1 clamped between the two first skeletal blocks 2-2, and a second single appendage 7-1 clamped between the two second skeletal blocks 3-2. The appendage end trajectory curves under three swing modes in the three limb motion models of the multi-segmented ear-shaped bionic robot based on the composite cylindrical cam-linkage mechanism are the input curves Q1(u), Q2(u), and Q3(u), respectively. The center p of the sphere on which the input curves Q1(u), Q2(u), and Q3(u) are located is determined according to their geometric shapes. s Based on the position and objective function in absolute coordinates, and through search space and constraint conditions, we establish the appendage swinging models of a multi-segmented ear-shaped insect bionic robot under the single appendage swinging mode of three crustaceans and arthropods.

Claims

1. A multi-segmented ear-shaped insect structure with all appendages, characterized in that: The gait recovery mechanism includes a gait recovery mechanism, a drive unit (4), a shell (5), and two shell flaps (8). The gait recovery mechanism includes a bottom torso frame (1), a left spine (2), a right spine (3), a first set of appendages (6), and a second set of appendages (7). The bottom torso frame (1) is a long strip-shaped multi-segment frame. The left spine (2) and the right spine (3) are set on the bottom torso frame (1) along the length direction of the bottom torso frame (1). The drive unit (4) is set at one end of the bottom torso frame (1). The drive unit (4) is connected to the left spine (2) and the right spine (3) respectively. The first set of appendages (6) is hinged to the outside of the left spine (2), and the second set of appendages (7) is hinged to the outside of the right spine (3). The shell (5) is fastened to the bottom torso frame (1) along the length direction of the bottom torso frame (1). Two shell flaps (8) are set on the outer wall of the shell (5). The left spine (2) and right spine (3) have the same structure and are symmetrically arranged along the central axis of the base torso frame (1) along its length. The first set of appendages (6) and the second set of appendages (7) have the same structure. The first set of appendages (6) includes multiple first single appendages (6-1). The left spine (2) includes two first end blocks (2-1) and multiple first bone segments (2-2). The two first end blocks (2-1) are respectively hinged to both ends of the base torso frame (1). The two first end blocks (2-1) are connected along the length of the base torso frame (1). Multiple first bone segments (2-2) are coaxially connected in sequence in the degree direction. A first guide gap (2-3) is formed between two adjacent first bone segments (2-2). One end of each first single appendage (6-1) is hinged in the first guide gap (2-3) it is close to. The middle part of each first single appendage (6-1) is hinged to the bottom torso frame (1). The other end of each first single appendage (6-1) is the first tug-of-war end. The left spine (2) and the right spine (3) drive the first group of appendages (6) and the second group of appendages (7) to make periodic multi-appendage coordinated swinging movements through the drive member (4).

2. The fully appendage-type multi-segmented ear-shaped insect structure according to claim 1, characterized in that: The first segment block (2-2) is a cylindrical block. One end face of the first segment block (2-2) is a first inclined end face, on which a first conical groove (2-2-1) is machined. A first connecting sleeve (2-2-2) is integrally connected to the center of the first conical groove (2-2-1). The first connecting sleeve (2-2-2) is coaxially arranged with the cylindrical block. The other end of the first segment block (2-2) is machined with a second conical groove (2-2-1). 3) A second connecting bushing (2-2-4) is integrally connected to the center of the second conical groove (2-2-3). The second connecting bushing (2-2-4) is coaxially arranged with the cylindrical block. The first guide gap (2-3) is formed between the first conical groove (2-2-1) of one first bone segment (2-2) and the second conical groove (2-2-3) of the other first bone segment (2-2).

3. A fully appendage-type multi-segmented ear-shaped insect structure according to claim 1 or 2, characterized in that: The first single appendage (6-1) includes a first ball joint (6-1-1), a first connecting rod (6-1-2), a second ball joint (6-1-3), a second connecting rod (6-1-4), and a first fin (6-1-5). The first connecting rod (6-1-2) is an L-shaped rod, and the second connecting rod (6-1-4) is an arc-shaped rod. One end of the first connecting rod (6-1-2) is fixedly connected to the outer wall of the first ball joint (6-1-1), and the other end of the first connecting rod (6-1-2) is... One end is fixedly connected to the outer wall of the second ball joint (6-1-3), and one end of the second connecting rod (6-1-4) is fixedly connected to the outer wall of the second ball joint (6-1-3). The first fin (6-1-5) is arranged on the second connecting rod (6-1-4) along the length direction of the second connecting rod (6-1-4). The first ball joint (6-1-1) is hinged in the first guide gap (2-3) near it. The second ball joint (6-1-3) is hinged to the bottom torso frame (1).

4. The fully appendage-type multi-segmented ear-shaped insect structure according to claim 3, characterized in that: The bottom-mounted torso frame (1) includes two support shafts (1-1), a front baffle (1-2), a rear baffle (1-3), and multiple arc-shaped support plates (1-4). The two support shafts (1-1) are arranged horizontally side by side. The multiple arc-shaped support plates (1-4) are inserted along the length of the support shafts (1-1) on the two support shafts (1-1). The outer wall of each arc-shaped support plate (1-4) is a convex arc wall, and the inner wall of each arc-shaped support plate (1-4) is a concave arc wall. A second guide gap (1-5) is formed between two adjacent arc-shaped support plates (1-4) to cooperate with the second ball joint (6-1-3). The front baffle (1-2) is vertically set at the front end of the two support shafts (1-1). The front baffle (1-2) is fixedly connected to the front end of each support shaft (1-1). The drive unit (4) is set on the front baffle (1-2). The power output end of the drive unit (4) is connected to the front end of the left spine (2) and the front end of the right spine (3) through a gear assembly. The rear baffle (1-3) is vertically set at the rear end of the two support shafts (1-1). The rear baffle (1-3) is fixedly connected to the rear end of each support shaft (1-1). The rear end of the left spine (2) and the rear end of the right spine (3) are respectively hinged to the rear baffle (1-3).

5. A method for restoring the coordinated movement of appendages of a multi-segmented ear-shaped insect, implemented using a fully appended multi-segmented ear-shaped insect structure as described in claims 1, 2, 3, or 4, characterized in that: The method for restoring the coordinated movement of appendages of the multi-segmented ear-shaped insect involves extracting movement feature data from the gait of existing crustaceans and arthropods, analyzing and planning the appendage gait in the movement feature data, and then restoring various gait patterns through a gait restoration mechanism, thereby completing the establishment of a full-appendage multi-segmented ear-shaped insect structure appendage movement model.

6. The method for restoring the coordinated movement of multi-segmented ear-shaped insect appendages according to claim 5, characterized in that: The process of observing the gait of existing crustaceans and arthropods and extracting motion feature data is as follows: By observing the swimming process of crustaceans and arthropods, the protruding parts where the appendages gather during arthropod movement are identified as the arthropod's locomotor appendages. The contour information of the arthropods is extracted using the DeeplabV3+ model to form a target contour image. The distance curve between the center point and the edge point of the target contour image is then calculated to determine the coordinates of the distal point of the arthropod's locomotor appendage. The coordinates of the distal point of the appendage are then reconstructed and precisely matched. Finally, by analyzing the distance change curve between the distal point of the appendage and the reference point, the gait parameters of the appendage movement are extracted. After the image is processed by the DeeplabV3+ model, a target contour segmentation image is output. The distance between the contour center point and the contour edge points can be calculated from the segmentation image. A distance curve is plotted with the contour edge points searched counterclockwise as the horizontal axis and the distance between the contour center point and the contour edge points as the vertical axis. Finally, the local maximum point, i.e., the desired moving leg corner point, is found using the finite difference method. The formula for calculating the distance to the moving leg corner point is: In the above formula, where: Let j be the coordinates of the outline edge point j in the i-th frame. Let n be the coordinates of the center point of the contour in the i-th frame. i The number of contour edge points within a specified range for the i-th frame is used to obtain the data of the first free-floating endpoint in the first single appendage (6-1) according to the distance calculation formula of the moving leg corner point; After obtaining the data of the first free-end point of the first tactile movement, the corresponding motion characteristics, gait cycle and gait amplitude of the first single appendage (6-1) in the first group of appendages (6) are calculated. The calculation process is as follows: Using the number of image frames as the horizontal axis to represent the time period and the number of image pixels as the vertical axis to represent the distance from the end of the limb to the center of the arthropod, a distance variation curve is plotted. The difference in the number of frames between the local maxima of the distance variation curve is the gait period, and the difference in the distance between the local maxima is the gait amplitude.

7. A method for restoring the coordinated movement of appendages of a multi-segmented ear-shaped insect according to claim 5 or 6, characterized in that: The process of analyzing and planning appendage gait in motion feature data includes planning the trajectory of a single appendage and planning the coordinated gait of multiple appendages. The process of planning the trajectory of a single appendage is as follows: Images of the swing trajectories of a single appendage from three types of crustaceans and arthropods were acquired. These trajectories were used as the basis for planning the initial trajectory of the appendage distal movement of the multi-segmented ear-shaped insect. In 3D software, spline curves were used to fit the distal points of the extracted swing trajectories of the three types of crustaceans and arthropods to form a fitted curve. Then, the appendage lengths of the three types of crustaceans and arthropods were measured. A primary model was established with the first ball joint (6-1-1) as the center and the length of the first single appendage (6-1) as the radius. The center of the ball in the primary model was projected onto the center of the fitted curve. The first ball joint (6-1) was then set... The farthest distance from the center of the sphere to the fitted curve is the length of the first single appendage (6-1). By dragging the first single appendage (6-1) along the fitted curve for one revolution, the motion trajectory of the appendage end point in the spatial coordinate system can be obtained. The spatial curve obtained from the motion trajectory of the appendage end point in the spatial coordinate system is used as the input curve Q(u) in the full appendage multi-segment ear-shaped insect structure. Based on the working principle of the gait restoration mechanism, the contour curve C(s) of the gait restoration mechanism is derived. Based on the input curve Q(u) and the cylindrical cam contour curve C(s), three appendage motion models of the full appendage multi-segment ear-shaped insect structure based on the gait restoration mechanism are established. The process of multi-pair appendage coordinated gait planning is as follows: The planned gait of the appendage-coordinated gait of the multi-segmented ear-shaped insect structure includes overall alternating gait, synchronous gait, and segmented alternating gait; The overall alternating gait includes a push phase and a return phase, which together constitute a complete appendage swing cycle. The push phase refers to the stage in which the bionic robot's appendage propels the water flow during one swing cycle. In the push phase, the appendage generates thrust on the water flow, enabling the robot to swim or crawl. The return phase refers to the stage in which the bionic robot's appendage retracts and stores energy during one swing cycle. In the return phase, the appendage does not generate thrust on the water flow, and the robot is in a non-moving state. The segmented alternating gait has the same form as the overall alternating gait, and the segmented alternating gait is a part of the overall alternating gait.

8. The method for restoring the coordinated movement of multi-segmented ear-shaped insect appendages according to claim 7, characterized in that: The process of establishing a fully appendage-type multi-segmented ear-shaped insect structural model based on various gaits planned through gait restoration mechanism analysis is as follows: The specified swing trajectory Q(u) and the derived cam profile curve C(s) are obtained through the single appendage swing planning process. After enveloping the cam profile curve C(s) according to the cylindrical cam design method, the cylindrical cam data driving the single appendage swing is obtained. Then, the linkage and cam fixed support model are established to obtain a complete cylindrical cam-linkage mechanism model. The appendage end trajectory curves corresponding to the three swing modes in the three full-appendage multi-segment ear-shaped insect structure appendage motion models based on the composite cylindrical cam-linkage mechanism are the input curves Q1(u), Q2(u), and Q3(u), respectively. The center p of the sphere on which the input curves Q1(u), Q2(u), and Q3(u) are located are determined according to the geometry of the input curves Q1(u), Q2(u), and Q3(u). s Based on the position and objective function in absolute coordinates, and through search space and constraint conditions, structural models of the multi-segmented ear-shaped insect with all appendages under the single appendage swinging mode of three crustaceans and arthropods are established.

Images