CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Modular design and initial gait study of an amphibian robotic turtle,
Low, K.H.; Zhou, Chunlin; Ong, T.W.; Yu, Junzhi; Low, K.H
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
AbstractAs another kind of the biomimetic underwater vehicles, a biologically inspired robotic turtle is studied and modeled. The modular design philosophy and construction of the prototype after a family of sea turtle - Cheloniidae is discussed. The dual-purpose robotic turtle is designed to imitate locomotion behaviors of Cheloniidae, both in water and on the land to achieve amphibian operations. Our motivation is to improve the design and performance of amphibian vehicles, which will have the reasonable speed and stable swimming ability like turtles. Studies have shown the high effectiveness of the turtle's underwater locomotion, whose thrust generated by the flapping foil-like flippers. The crawling and lift-based swimming gaits are analyzed and implemented on the prototype. The platform is being developed for the testing to be conducted in outdoor real environment.
KeywordBiomimetic Robots Robotic Turtle Flapping Foil gait Study Amphibian Robot
Document Type会议论文
Corresponding AuthorLow, K.H
Affiliation School of Mechanical and Aerospace Engineering, Nanyang Technological University (NTU), Singapore 639798, Singapore (2) Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, P.O. Box 2728, Beijing 100080, China
Recommended Citation
GB/T 7714
Low, K.H.,Zhou, Chunlin,Ong, T.W.,et al. Modular design and initial gait study of an amphibian robotic turtle,[C],2007.
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