This article describes development of a crab biorobot that is capable of traversing diverse environments including both land and water. We have transformed a living rainbow crab into a walking biorobot by attaching wireless controller. An anatomical and physiological investigation revealed the rainbow crabs have sensory system on the carapace. Based on this finding, we implanted electrodes into the carapace. The walking direction of the robot is controlled through electrical stimulation provided by the controller. Depending on this site, the crab biorobot is induced to walk forward, leftward, and rightward in both terrestrial and underwater conditions. There is no significant difference in the mean walking direction between the two conditions. Smooth transition from land to water of the crab biorobot further demonstrates the adaptability to amphibious environment. This biorobot is compact, measuring 5 cm in carapace and weighing 50 g including the wireless controller. The crab biorobot in this scale has a potential for application narrow and unstructured in waterfront environments.

中文翻译：

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螃蟹生物机器人在两栖环境中的行走控制。


本文介绍了螃蟹生物机器人的开发，该机器人能够穿越包括陆地和水在内的多种环境。我们通过连接无线控制器将活的彩虹蟹变成了行走的生物机器人。解剖学和生理学研究表明，彩虹蟹的甲壳上有感觉系统。基于这一发现，我们将电极植入到甲壳中。机器人的行走方向是通过控制器提供的电刺激来控制的。根据这个位置，螃蟹生物机器人被诱导在陆地和水下条件下向前、向左和向右行走。两种情况下的平均步行方向没有显着差异。螃蟹生物机器人从陆地到水中的平稳过渡进一步证明了其对两栖环境的适应性。该生物机器人结构紧凑，甲壳长 5 厘米，包括无线控制器重 50 克。这种规模的螃蟹生物机器人具有在海滨环境中狭窄和非结构化应用的潜力。