Knowledge Commons of Institute of Automation,CAS
On a Bio-inspired Amphibious Robot Capable of Multimodal Motion | |
Yu Junzhi; Ding Rui; Yang Qinghai; Tan Min; Wang Weibing; Zhang Jianwei | |
发表期刊 | IEEE-ASME TRANSACTIONS ON MECHATRONICS |
2012-10-01 | |
卷号 | 17期号:5页码:847-856 |
文章类型 | Article |
摘要 | This paper addresses the system design and locomotion control for a versatile amphibious robot, AmphiRobot-II, inspired by various amphibian principles in the animal kingdom. In terms of the propulsion features of existing amphibians, a novel hybrid propulsive mechanism coupled with wheel-propeller-fin movements is proposed that integrates fish-or dolphin-like swimming and wheel-based crawling. The robot is able not only to implement flexible wheel-based movements on land, but also to perform steady and efficient fish-or dolphin-like swimming under water and can further switch between these two patterns via a specialized swivel device. To achieve multimodal motions, a body deformation steering approach is proposed for the turning locomotion onland with minimum turning radius obtained accordingly. A central pattern generator inspired underwater locomotion control is also implemented and tested on the physical robot. Based on the aforementioned design, the AmphiRobot-II prototype has been built and has successfully demonstrated to confirm the effectiveness of the hybrid propulsive scheme and the amphibiouscontrol approaches. |
关键词 | Amphibious Robot Bio-inspired Robot Mechanical Design Motion Control Multimodal Motion |
WOS标题词 | Science & Technology ; Technology |
关键词[WOS] | LOCOMOTION ; ALGORITHM ; WALKING ; DESIGN ; SYSTEM ; MODEL ; FISH |
收录类别 | SCI |
语种 | 英语 |
WOS研究方向 | Automation & Control Systems ; Engineering |
WOS类目 | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
WOS记录号 | WOS:000307904800005 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/3486 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Yu Junzhi |
推荐引用方式 GB/T 7714 | Yu Junzhi,Ding Rui,Yang Qinghai,et al. On a Bio-inspired Amphibious Robot Capable of Multimodal Motion[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2012,17(5):847-856. |
APA | Yu Junzhi,Ding Rui,Yang Qinghai,Tan Min,Wang Weibing,&Zhang Jianwei.(2012).On a Bio-inspired Amphibious Robot Capable of Multimodal Motion.IEEE-ASME TRANSACTIONS ON MECHATRONICS,17(5),847-856. |
MLA | Yu Junzhi,et al."On a Bio-inspired Amphibious Robot Capable of Multimodal Motion".IEEE-ASME TRANSACTIONS ON MECHATRONICS 17.5(2012):847-856. |
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