CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
On a Bio-inspired Amphibious Robot Capable of Multimodal Motion
Yu Junzhi; Ding Rui; Yang Qinghai; Tan Min; Wang Weibing; Zhang Jianwei
Source PublicationIEEE-ASME TRANSACTIONS ON MECHATRONICS
2012-10-01
Volume17Issue:5Pages:847-856
SubtypeArticle
AbstractThis 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.
KeywordAmphibious Robot Bio-inspired Robot Mechanical Design Motion Control Multimodal Motion
WOS HeadingsScience & Technology ; Technology
WOS KeywordLOCOMOTION ; ALGORITHM ; WALKING ; DESIGN ; SYSTEM ; MODEL ; FISH
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000307904800005
Citation statistics
Cited Times:65[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/3486
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu Junzhi
Recommended Citation
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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