CPG-based locomotion control of a quadruped amphibious robot

Wang, Caiwang; Xie, Guangming; Yin, Xinyan; Li, Liang; Wang, Long

doi:10.1109/aim.2012.6265897

Cited by 4 publications

(7 citation statements)

References 8 publications

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“…There are also some other, slightly different vehicles that use pitching fins. An amphibious robot of Peking University [21] uses fins that are actuated by two parallel motors through a special five-bar link mechanism. The mechanism allows the fins to be used for thrust generation or as legs for walking on the ground.…”

Section: Multi-fin Underwater Vehicles and Their Control Systemsmentioning

confidence: 99%

“…Another vehicle of Peking University [18] has fins whose rotation axes can be reoriented using 4 additional motors. This vehicle is extremely highly maneuverable and can be used to control 6 DOFs, but this comes at a price of doubling the [12], [14], [15], [18], [21]. Their main contribution lies in the development and analysis of the gait generation, for example using central pattern generators [12], [18], [21].…”

Section: Multi-fin Underwater Vehicles and Their Control Systemsmentioning

confidence: 99%

“…Most of them use 4 fins, but in some cases the number of actuated fins is different [13]. Some of these studies have a goal to precisely mimic the turtle-like motion [14]- [16], [19], [20] while in others the biological similarity has lower priority compared to practical feasibility [10]- [13], [18], [21]. With different multi-fin underwater vehicle designs, researchers mainly hope to achieve high maneuverability, quiet and efficient thrust generation as well as reliable or even amphibious locomotion [11], [13], [15].…”

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confidence: 99%

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Motion Control of a Hovering Biomimetic Four-Fin Underwater Robot

Salumäe

Chemori

Kruusmaa

2019

IEEE J. Oceanic Eng.

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U-CAT is a highly maneuverable biomimetic 4-fin underwater robot for operating in confined spaces. Because of its novel mechanical design and specialized purpose, the traditional autonomous underwater robot control methods are not directly applicable on U-CAT. This paper proposes a novel modular control architecture that can be adopted for different application scenarios. Within this framework we implement and test several 2-degree of freedom (DOF) controllers and discuss the test results. Furthermore, we describe and implement an actuation coupling method by prioritizing the selection of DOF with fuzzy membership functions and demonstrate the approach for 3-DOF control. The results show that the proposed DOF prioritization approach helps to improve tracking both in the case of human in the loop and automatic control. Finally, we describe long duration field experiments in realistic environmental conditions. I. INTRODUCTION A UTONOMOUS underwater vehicles (AUVs), such as Iver-2 [1], Bluefins [2] and Remus [3], are nowadays widely used in many research areas and industries. For example the oil and gas industry uses them for surveys to locate deposits and to inspect pipelines or rigs [4], navies use them for intelligence and mine countermeasures [5]; and archaeologists use them to locate historical shipwrecks [6]. The large variety of applications of AUVs motivates researchers to develop more and more advanced control systems and technologies for these vehicles. The more advanced control systems in turn shift AUV application towards even more complex underwater environments. In many of these environments, traditional vehicle designs

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Section: Multi-fin Underwater Vehicles and Their Control Systemsmentioning

confidence: 99%

Section: Multi-fin Underwater Vehicles and Their Control Systemsmentioning

confidence: 99%

mentioning

confidence: 99%

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Motion Control of a Hovering Biomimetic Four-Fin Underwater Robot

Salumäe

Chemori

Kruusmaa

2019

IEEE J. Oceanic Eng.

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“…Researchers have reported many forms of amphibious robots [8,14,[16][17][18][19][20][21][22][23][24][25][26][27][28]. Although these robots have favorable aquatic locomotion ability, their terrestrial movements are sacrificed and their dynamic locomotion ability can hardly coMPare with aforementioned quadrupedal robots.…”

Section: Introductionmentioning

confidence: 99%

“…However, their terrestrial movement flexibility and speed cannot match with the quadrupedal robots. Fish fin-based amphibious robots have a fin mechanism that can switch between fin and leg [8,24]. The fins function as paddles during swimming and as legs while walking [25,26].…”

Section: Introductionmentioning

confidence: 99%

Bio-inspired robotic dog paddling: kinematic and hydro-dynamic analysis

Fish

Chen

et al. 2019

Bioinspir. Biomim.

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Research on quadrupedal robots inspired by canids or felids have been widely reported and demonstrated. However, none of these legged robots can deal with difficult environments that include water, such as small lakes, streams, rain, mud, flooded terrain, etc. In this paper, we present for the first time a kinematic analysis and a hydrodynamic model of dog paddling motion in a robotic system. The quadrupedal paddling gait of dogs was first analyzed based on underwater video recording. Hydrodynamic drag force analysis in a paddling gait cycle was conducted for a prototype robotic dog. The prototype robotic dog was developed using four pre-charged pneumatics soft actuators with consideration of relative positions of CG (center of gravity) and CB (center of buoyancy) and their dynamic variation in paddling. It was found that such soft actuators have great potential in developing amphibious legged robots, because they are inherently water-tight, antirusty, simple in structural design, and have large hydrodynamic advantage due to their mostly hemicylindrical shape design. Trotting and paddling of the prototype robotic dog was also demonstrated. It is believed that our findings reported in this research will provide useful guidance in future development of amphibious robotic dogs.

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