Design and Optimization of a Multimode Amphibious Robot With Propeller-Leg

This paper develops a robust adaptive dynamic surface control (DSC) design approach for switching strict feedback nonlinear systems with multiple switching control gains and unknown control directions. To capture the multiple unknown control directions, we design multiple Nussbaum‐type gains for every subsystem. Based on this Nussbaum‐type gain design, we construct a common Lyapunov function for all subsystems via backstepping technique, which can ensure the system stability under the existence of random switches. Meanwhile, the problem of multiple switching control gains is resolved by this means. To obviate repeated differentiation and decrease computation complexity, the dynamic surface control technique is introduced. Finally, two simulation examples are provided to validate the effectiveness of the developed method.

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“…The switching system in the form of (10) can represent a wide range of engineering systems, including loading robots 41 and amphibious robots 42 …”

Section: Problem Formulationmentioning

confidence: 99%

Nussbaum‐based robust adaptive control for nonlinear switching systems with switching unknown control coefficients

Tang

Yang

Chen

et al. 2023

Intl J Robust & Nonlinear

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“…A robot equipped with propeller-legs on SWGM ground. The propeller-leg is a kind of propulsion device that was introduced in our previous study [32] for the amphibious robot. Three arc-shaped legs are evenly distributed on a circle with a radius of 110 mm, and the arc is 0.5 rad.…”

Section: Test For Propeller-leg In Swgmmentioning

confidence: 99%

“…Finally, the comparative experiment of the robot running on the ground of GM and SWGM proves the force law in this paper. Specific information about the robot is explained in our previous study [32].…”

Section: Introductionmentioning

confidence: 99%

Granular Resistive Force Theory Extension for Saturated Wet Sand Ground

Wang

Liu

et al. 2022

Machines

Self Cite

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Amphibious environments formed from sand and water present a formidable challenge to the running motion of field robots, as the mixing of granular media (GM) and water makes the force laws of robotic legs more complicated during robot running. To this end, we extended the granular resistive force theory (RFT) to saturated wet granular media, named saturated granular RFT (SGRFT), which can be suitable for saturated wet sand submerged in water. This method can extend RFT for dry GM to saturated wet granular media (SWGM) by using the method’s velocity and depth coefficient. The force laws of the robotic legs in dry GM and SWGM were tested, compared, and analyzed. The difference in force laws between the two kinds of media, from the sensitivity to speed (10 mm/s~50 mm/s) and depth (0~60 mm), was calculated. More than 70% of the prediction results of the horizontal resistive force using SGRFT have an error of less than 6%. The effectiveness of the SGRFT in legged robots is proved by simulation and testing of three kinds of legs. The difference in force laws when running is proved by the experiments of the robot equipped with the propeller-leg in dry GM and SWGM, which is vital for amphibious robots working in shoal environments (including dry GM and SWGM ground).

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“…[ 1,38–42 ] Such robots should be developed to combine the performances of conventional XYθ ‐axis precision stages using ball screws with a maximum speed of around 10 mm s −1 with a repeatability of 0.5 μm, [ 43–45 ] and precise piezoelectric stages with a resolution of 1 nm within the range of around 0.2 mm. [ 46–50 ] Among these, some nonholonomic mobile robots incorporating piezoelectric elements [ 51–54 ] exhibit remarkable performance, including high speed and excellent mobility across challenging terrain. However, their suitability for precision tasks in confined spaces is limited due to their restricted mobility, stemming from their nonholonomic nature.…”

Section: Introductionmentioning

confidence: 99%

Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

Suzuki,

Iida,

Tsukui

et al. 2024

Advanced Intelligent Systems

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Holonomic mobile micromanipulators driven by piezoelectric actuators offer precision and compact design. However, attaining both high speed and positioning repeatability with sufficient load capacity poses challenges, given that lightweight robots are susceptible to nonuniform driving surfaces and external forces. A holonomic beetle (HB) is proposed to realize a wide range, compact size, precise holonomic motion, automatic micromanipulation, and high‐speed movement simultaneously. Inspired by the biological makeup of a Rhinoceros Beetle, a length, weight, and load capacity of 8 cm, 74 g, and of 2000 g, respectively, are used. The HB is a two‐legged robot with a pseudoalternating tripod gait locomotion principle, with five piezoelectric actuators for XYθ displacement and switching of the contact leg. It achieves maximum walking velocities of 11.6 mm s−1 for translational motion and 19.3 deg s−1 for rotation, with a displacement resolution of 12 nm. Notably, under open‐loop control, the HB demonstrates high repeatability with a coefficient of variation of 0.3%. It exhibits the capability to climb 30°‐inclined surfaces, traverse flat surfaces with 0.1 mm bumps, and navigate 30 mm pits. Furthermore, the HB showcases practical automatic micromanipulation through visual servo control and machine learning, presenting potential applications in biomedical and microassembly fields.

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Design and Optimization of a Multimode Amphibious Robot With Propeller-Leg

Cited by 17 publications

References 27 publications

Nussbaum‐based robust adaptive control for nonlinear switching systems with switching unknown control coefficients

Nussbaum‐based robust adaptive control for nonlinear switching systems with switching unknown control coefficients

Granular Resistive Force Theory Extension for Saturated Wet Sand Ground

Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

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