Preliminary development of a biomimetic amphibious robot capable of multi-mode motion
Yang, Qinghai; Yu, Junzhi; Tan, Min; Wang, Weibing
2007
会议名称2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
会议录名称IEEE International Conference on Robotics and Biomimetics
会议日期December 15, 2007 - December 18, 2007
会议地点Yalong Bay, Sanya, China
摘要This 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.
关键词Amphibious Robot Multi-mode Biomimetics Fish-like Swimming Motion Control
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13067
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Yang, Qinghai
作者单位Key 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
推荐引用方式
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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