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

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-...

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Bibliographic Details
Published in2009 IEEE International Conference on Automation and Logistics pp. 140 - 145
Main Authors Weibing Wang, Junzhi Yu, Rui Ding, Min Tan
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2009
Subjects
amphibious robot
Bio-inspired robots
Design automation
Design engineering
Educational institutions
Friction
Intelligent robots
Legged locomotion
Logistics
mechanical design
Mobile robots
modular
multimode motion
Robotics and automation
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ISBN9781424447947
1424447941
ISSN2161-8151
DOI10.1109/ICAL.2009.5262958

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Summary: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.
ISBN:9781424447947
1424447941
ISSN:2161-8151
DOI:10.1109/ICAL.2009.5262958