|On a Bio-inspired Amphibious Robot Capable of Multimodal Motion|
|Yu Junzhi; Ding Rui; Yang Qinghai; Tan Min; Wang Weibing; Zhang Jianwei
|Source Publication||IEEE-ASME TRANSACTIONS ON MECHATRONICS
|Abstract||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.|
|WOS Headings||Science & Technology
|WOS Research Area||Automation & Control Systems
|WOS Subject||Automation & Control Systems
; Engineering, Manufacturing
; Engineering, Electrical & Electronic
; Engineering, Mechanical
|Corresponding Author||Yu Junzhi|
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.
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.
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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