On a Bio-inspired Amphibious Robot Capable of Multimodal Motion

	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	被引频次：112[WOS] [WOS记录] [WOS相关记录]
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.