Crocodiles, known as one of the oldest and most resilient species on Earth, have demonstrated remarkable locomotor abilities both on land and in water, evolving over millennia to adapt to diverse environments. In this paper, we draw inspiration from crocodiles and introduce a highly biomimetic crocodile robot equipped with multiple degrees of freedom and articulated trunk joints. This design is based on a comprehensive analysis of the structural and motion characteristics observed in real crocodiles. The bionic crocodile robot has the problem of limb-torso incoordination during movement, in order to solve this problem, we apply the D-H method for both forward and inverse kinematics analysis of the robot's legs and spine. Through a series of simulation experiments, we investigate the robot's stability of motion, fault tolerance, and adaptability to the environment in two motor pattern: with and without the involvement of the spine and tail in its movements. Experiment results demonstrate that the bionic crocodile robot exhibits superior motion performance when the spine and tail cooperate with the extremities. This research not only showcases the potential of biomimicry in robotics but also underscores the significance of understanding how nature's designs can inform and enhance our technological innovations.

翻译：鳄鱼作为地球上最古老且最具适应性的物种之一，经过数千年进化，展现出卓越的水陆两栖运动能力。本文受鳄鱼启发，提出了一种具有多自由度和铰接式躯干关节的高度仿生鳄鱼机器人。该设计基于对真实鳄鱼结构与运动特性的综合分析。针对仿生鳄鱼机器人运动过程中肢体与躯干协调性不足的问题，我们采用D-H法对机器人的腿部和脊柱进行正逆运动学分析。通过一系列仿真实验，研究了机器人在脊柱与尾部参与及不参与运动两种模式下的运动稳定性、容错能力及环境适应性。实验结果表明，当脊柱与尾部配合四肢运动时，仿生鳄鱼机器人展现出更优的运动性能。本研究不仅展示了仿生学在机器人领域的应用潜力，更凸显了理解自然设计对推动技术创新发展的重要意义。