Design of a New Propulsion Mechanism of Imitating Duck’s Webbed-feet

Dai, Yuan; Zheng, Zhongqiang; Chen, Jinlei; Chang, Zongyu

doi:10.11591/telkomnika.v11i8.3133

Cited by 5 publications

(5 citation statements)

References 4 publications

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“…Many robots such as quadruped robots, snake robots, and bipedal robots have been designed with inspiration from animal morphologies. Kashem et al [1] and Dai et al [2] observed the duck's movement underwater and found that the foot movement could be divided into two phases: stroking forward and backward phases. The backward stroking motion drives the duck body through the reacting force from the water (the duck feet fully open to maximize the contact area with water during back stroking).…”

Section: Literature Reviewmentioning

confidence: 99%

“…In the forward motion, the feet fully contract to minimize the contact area with water. Dai et al [2] has also designed a structure of an underwater vehicle with a biomimetic propulsion mechanism. It included the body, steering engines, and propulsion mechanisms.…”

Section: Literature Reviewmentioning

confidence: 99%

“…As there are two flaps and a foot bottom for each foot, which pushes the water at any given moment, the total theoretical surface area is 0.00895 m 2…”

Section: Robotics 2019 8 X For Peer Review 8 Of 18mentioning

confidence: 99%

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Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

et al. 2019

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Roaming complexity in terrains and unexpected environments pose significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration, namely, walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates a webbed duck feet design to walk on different terrains, swim in the water, and tackle obstructions on its way. The designed robot is compact, easy to use, and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Because of the design, the webbed feet are able to open and close with the help of water pressure. Klann linkages have been used to convert rotational motion to walking and swimming for the animal’s gait. Because of its amphibian nature, the designed robot can be used for exploring tight caves, closed spaces, and moving on uneven challenging terrains such as sand, mud, or water. It is envisaged that the proposed design will be appreciated in the industry to design amphibious robots in the near future.

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Section: Literature Reviewmentioning

confidence: 99%

Section: Literature Reviewmentioning

confidence: 99%

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Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

et al. 2019

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“…S. B. A. Kashem et al, [1] and Tuan Dai et al, [2] observed the duck's movement underwater and found that the feet movement could be divided into two phases: stroking forward and backward phases. The backward stroking motion drives the duck body through the reacting force from the water (the duck feet fully open to maximize the contact area with water during back stroking).…”

Section: Literature Reviewmentioning

confidence: 99%

“…In the forward motion, the feet fully contract to minimize the contact area with water. Tuan Dai [2] has also designed a structure of an underwater vehicle with a biomimetic propulsion mechanism. It included the body, steering engines, and propulsion mechanisms.…”

Section: Literature Reviewmentioning

confidence: 99%

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

Kashem¹,

Jawed²,

Ahmed³

et al. 2019

Preprint

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Roaming complexity in terrains and unexpected environments poses significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration namely walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates webbed duck feet design to walk on different terrains, swim in water and tackle obstructions on its way. The designed robot is compact and easy-to-use and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Due to the design, the webbed feet are able to open and close with the help of water pressure. The Klann linkage has been used to convert rotational motion to walking and swimming as an animal's gait. Because of its amphibian nature, the designed robot can be used for exploring the tight caves, closed spaces and moving on uneven challenging terrains such as sand, mud or water.The presented model and design of the amphibious robot has been inspired by the working principle of duck feet. The propulsion generated through this feet system has been observed to be better and more controlled then the initial design and prototype of designed duck feet robot reported in [1]. The direction of movement can be managed, and the speed can be controlled using a larger contact area with water. Since duck is able to roam on both land and water, their feet movement during walking and swimming is adopted in designing the robot's four legs. Klann linkage is used to mimic such duck feet motion and the control mechanism of the feet is driven by DC motors and DC servo motors which are governed by an Arduino microcontroller. The robot is capable of sensing the presence of water through conductive sensors and detects obstacles using ultrasonic sensor while walking. Due to its amphibian nature and other features in movement, the robot is capable of traversing diversified terrains. It is envisaged that the proposed design will be appreciated in the industry to design amphibious robots in near future.

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