A salamander-like amphibious robot: System and control design

Yin, Xinyan; Wang, Caiwang; Xie, Guangming

doi:10.1109/icma.2012.6283272

Cited by 7 publications

(6 citation statements)

References 23 publications

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“…In particular, the sinusoidal generators involve fewer calculations while keeping the benefits of the CPGs. The adopted form of the sinusoidal generators for the column control can be expressed as [13,27]…”

Section: Simple Displacement Control Mechanismmentioning

confidence: 99%

“…The simplest method for performing an open turn is to vary the offset in the column sinusoidal generators [13,23,24]. When the offset is non-zero, the robot follows a circular path, in the left or right direction, depending on this variable sign.…”

Section: Control Mechanism For Performing Open and Closed Turnsmentioning

confidence: 99%

“…The salamander family has been considered for many designs because it can perform water/land/climb transitions. Examples of salamanderbased robots include the Amphibot (modular), Pleurobot (non-modular), Chigon (non-modular), bioinspired salamander (modular) robots, AMOS WD02 (non-modular), StickyBot (non-modular) and robots based on the Chinese dragon, Pleurodeles walt, crytobranchidae and gecko [12][13][14][15][16].…”

Section: Introductionmentioning

confidence: 99%

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Assembly and implementation of modular quadrupedal architecture

Cruz-Carbonell¹,

Castillo-Estepa²

2019

Vis. Electron.

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This paper describes the assembling process of a quadrupedal architecture using the modular robotic system Mecabot. Several possible topologies are addressed to finally opt for a design that allows the use of an active column. Based on this, the mathematical model of the control is proposed to perform the movements of displacement, open turn and rotation. The locomotion profiles for these first two movement modalities are bio-inspired. For the rotation modality, a characteristic quadrupedal robot transition is used to allow the correct rotation execution without using a great number of degrees of freedom. The robot is tested on structured and unstructured terrains by measuring its speed in function of the movement frequency variation. For the open turn modality, the described circumference radius is measured in function of the offset variation. With the tests, the second Mecabot configuration with legs is finally obtained complementing the research work carried out for apodal configurations (snake, wheel caterpillar) and hexapod.

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Section: Simple Displacement Control Mechanismmentioning

confidence: 99%

Section: Control Mechanism For Performing Open and Closed Turnsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Assembly and implementation of modular quadrupedal architecture

Cruz-Carbonell¹,

Castillo-Estepa²

2019

Vis. Electron.

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“…The stride frequency depends on the rotation rate of the servo (w s ); this was 0.18 s/60 • at 7.4 V. A short time ∆t elapses between the support and the transfer phase of the leg, maintaining stability. Therefore, the stride frequency is as Equation (18).…”

Section: Two On-land Locomotion Experimentsmentioning

confidence: 99%

Hybrid Locomotion Evaluation for a Novel Amphibious Spherical Robot

et al. 2018

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Abstract:We describe the novel, multiply gaited, vectored water-jet, hybrid locomotion-capable, amphibious spherical robot III (termed ASR-III) featuring a wheel-legged, water-jet composite driving system incorporating a lifting and supporting wheel mechanism (LSWM) and mechanical legs with a water-jet thruster. The LSWM allows the ASR-III to support the body and slide flexibly on smooth (flat) terrain. The composite driving system facilitates two on-land locomotion modes (sliding and walking) and underwater locomotion mode with vectored thrusters, improving adaptability to the amphibious environment. Sliding locomotion improves the stability and maneuverability of ASR-III on smooth flat terrain, whereas walking locomotion allows ASR-III to conquer rough terrain. We used both forward and reverse kinematic models to evaluate the walking and sliding gait efficiency. The robot can also realize underwater locomotion with four vectored water-jet thrusters, and is capable of forward motion, heading angle control and depth control. We evaluated LSWM efficiency and the sliding velocities associated with varying extensions of the LSWM. To explore gait stability and mobility, we performed on-land experiments on smooth flat terrain to define the optimal stride length and frequency. We also evaluated the efficacy of waypoint tracking when the sliding gait was employed, using a closed-loop proportional-integral-derivative (PID) control mechanism. Moreover, experiments of forward locomotion, heading angle control and depth control were conducted to verify the underwater performance of ASR-III. Comparison of the previous robot and ASR-III demonstrated the ASR-III had better amphibious motion performance.

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“…Mechanical variable-diameter wheels typically necessitate integrating both the control system and the variable-diameter mechanical structure to switch between different environments to improve passing capability. However, these mechanical structures are often less reliable and more difficult to control due to their complex structures and control systems [13] to [15]. As a result, variable-diameter wheels must retain their original powerful passing capability while maintaining a simple structure with low control complexity and improved reliability.…”

Section: Introductionmentioning

confidence: 99%

Design of a Self-Folding Composite Variable-Diameter Wheel Structure based on 4D Printing Technology

Zhang¹,

Zhuang²,

Li³

2023

sv-jme

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The conventional variable-diameter wheel’s complex control system and structure seriously affect its mobility and dependability in unstructured terrain. Based on 4-dimensional (4D) printing technology, this work proposes a self-folding composite variable-diameter wheel consisting of a self-folding structure and an outer hub that can self-adjust the wheel diameter under thermal stimulation, avoiding the drawbacks of conventional structures. The structure integrates the control system and variable-diameter mechanical structure using 4D printing. The design and construction of the self-folding structures are introduced, and the mathematical model and design parameters for self-folding motion are obtained using kinematic analysis. Based on the above research and material properties analysis, a programmable morphing structural design and morphing influence investigation based on manufacturing parameters are carried out for the self-folding rod that controls the contraction of this structure. The digital model and prototype have been developed to verify the feasibility of the design and the correctness of the theoretical analysis and to realize the self-adjusting wheel diameter under thermal stimulation.

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A salamander-like amphibious robot: System and control design

Cited by 7 publications

References 23 publications

Assembly and implementation of modular quadrupedal architecture

Assembly and implementation of modular quadrupedal architecture

Hybrid Locomotion Evaluation for a Novel Amphibious Spherical Robot

Design of a Self-Folding Composite Variable-Diameter Wheel Structure based on 4D Printing Technology

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