CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Preliminary development of a biomimetic amphibious robot capable of multi-mode motion
Yang, Qinghai; Yu, Junzhi; Tan, Min; Wang, Weibing
2007
Conference Name2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Source PublicationIEEE International Conference on Robotics and Biomimetics
Conference DateDecember 15, 2007 - December 18, 2007
Conference PlaceYalong Bay, Sanya, China
AbstractThis paper presents the mechatronic issues of an amphibious robot capable of multi-mode motion, entirely inspired by some impressive propulsion solutions offered by the Nature. Considering that the oscillating fin utilized by fishes and cetaceans is an efficient propulsive mode under water and wheel is another formidable opponent on ground, a multi-purpose, amphibious propulsive mechanism that combines carangiform or dolphin-like swimming and wheel-like motions is designed. Based on the module-based structure, the robot is composed of a head, multiple identical propelling-units, and a flapping foil, which allows for flexible propulsion, reliable maintenance, as well as scalable fabrication. Further, an ARM-based embedded control system is designed and corresponding motion control algorithms are addressed. Preliminary experiments with the prototype Anally validate the effectiveness of the multi-mobility mechanism and control.
KeywordAmphibious Robot Multi-mode Biomimetics Fish-like Swimming Motion Control
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13067
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYang, Qinghai
AffiliationKey Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China.(2) Machine and Electricity Engineering College, Shihezi University, Xinjiang Uygur Autonomous Region 832003, China
Recommended Citation
GB/T 7714
Yang, Qinghai,Yu, Junzhi,Tan, Min,et al. Preliminary development of a biomimetic amphibious robot capable of multi-mode motion[C],2007.
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