Bio-inspired design and realization of a novel multimode amphibious robot

	Bio-inspired design and realization of a novel multimode amphibious robot
	Wang Weibing; Yu Junzhi; Ding Rui; Tan Min
	2009
会议名称	IEEE International Conference on Automation and Logistics
会议录名称	Proceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009
页码	140-145
会议日期	2009.08
会议地点	Shenyang, China
摘要	This paper deals with an improved design scheme for an amphibious robot inspired by various amphibian principles in animal kingdom. Considering the propulsive features of existing amphibian modes synthetically, a novel hybrid propulsive mechanism that integrates fish-like swimming with wheel-paddle-fin movements is proposed. The robot is able to implement speedy and efficient fish-like or dolphin-like swimming and to perform flexible wheel-like terrestrial movements, which can switch between these two patterns by a specialized swivelling device. Critical engineering realization issues involving morphological optimization, buoyancy calculation and waterproof sealing are discussed. In particular, the design philosophy of modularity has been incorporated into the development of the robotic prototype. Preliminary testing partially validates the feasibility of multimode gaits both on land and in water.
关键词	Bio-inspired Robots Amphibious Robot Mechanical Design Multimode Motion Modular
收录类别	EI
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/4855
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Wang Weibing
推荐引用方式 GB/T 7714	Wang Weibing,Yu Junzhi,Ding Rui,et al. Bio-inspired design and realization of a novel multimode amphibious robot[C],2009:140-145.