Abstract: An energy harvesting device based on wave energy comprises: a box body; a swing rod hinged with the box body, wherein one end of the swing rod extends into the box body, and a float is fixed at the other end of the swing rod; a base layer disposed inside the box body and provided with a plurality of piezoelectric patches in a length direction; and an energy transmission assembly fixed inside the box body and located between the swing rod and the base layer, one side of the energy transmission assembly is connected with one end of the swing rod extending into the box body, and the other side of the energy transmission assembly is in transmission connection with the base layer, wherein the energy transmission assembly converts the swinging of the swing rod into squeezing to the base layer.

Abstract: A flexible underwater robot, a control method and a device is provided with at least one movable joint and a control module. A flexible joint module of the movable joint comprises a first connecting plate, a second connecting plate, a first spring, several second springs, several third springs, several first pulling ropes, several second pulling ropes and a pulling module. The first spring, the second springs and the third springs are arranged from inside to outside in sequence with gradually decreased rigidities correspondingly to form a gradual rigidity structure, so that it is more flexible to adjust a posture. When the robot is impacted, it may absorb and release energy to ensure the integrity of the flexible joint module, so that the stability is improved.