Design of a wheel-propeller-leg integrated amphibious robot

Yu, Jiancheng; Tang, Yuangui; Zhang, Xueqiang; Liu, Chongjie

doi:10.1109/icarcv.2010.5707341

Cited by 16 publications

(13 citation statements)

References 6 publications

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“…The research into land-water propulsors (i.e., amphibious robots) tends to attract engineers due to their fascinating locomotion agility and high performance [1][2][3][4][5][6]. Their potential applications involve near-shore observatories, search-and-rescue missions and amphibious reconnaissance, etc.…”

Section: Introductionmentioning

confidence: 99%

“…The wheel-driven mechanism is relatively more mature and simpler to design and control, which is broadly suitable for uncritical environments. For underwater locomotion, amphibious robots generally utilize propeller impetus [4,9], snake-like anguilliform swimming [2,10,11] or fish-like fin actuators [1,5,12]. The former two offer slower locomotion speeds and less efficient propulsion.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic Modelling of a CPG-Controlled Amphibious Biomimetic Swimming Robot

Ding

Yang

et al. 2013

International Journal of Advanced Robotic Systems

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This paper focuses on the modelling and control problems of a self-propelled, multimodal amphibious robot. Inspired by the undulatory body motions of fish and dolphins, the amphibious robot propels itself underwater by oscillations of several modular fish-like propelling units coupled with a pair of pectoral fins capable of non-continuous 360 degree rotation. In order to mimic fish-like undulating propulsion, a control architecture based on Central Pattern Generator (CPG) is applied to the amphibious robot for robust swimming gaits, including forward and backward swimming and turning, etc. With the simplification of the robot as a multi-link serial mechanism, a Lagrangian function is employed to establish the hydrodynamic model for steady swimming. The CPG motion control law is then imported into the Lagrangian-based dynamic model, where an associated system of kinematics and dynamics is formed to solve real-time movements and, further, to guide the exploration of the CPG parameters and steady locomotion gaits. Finally, comparative results between the simulations and experiments are provided to show the effectiveness of the built control models.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic Modelling of a CPG-Controlled Amphibious Biomimetic Swimming Robot

Ding

Yang

et al. 2013

International Journal of Advanced Robotic Systems

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“…The propulsion systems of amphibious robots play a vital role in achieving these wide applications in complex environments [5]. With the development of amphibious robots, many kinds of propulsive devices have been proposed and developed, for instance, wheel-propeller-fins [6], wheel-propeller-legs [7,8], and curved flipper legs [9]. However, devices such as the wheel-propeller-fin and wheel-propeller-leg are prone to breaking down because of abrasion and entanglement in weeds.…”

Section: Introductionmentioning

confidence: 99%

Hydrodynamic Analysis-Based Modeling and Experimental Verification of a New Water-Jet Thruster for an Amphibious Spherical Robot

Hou

Guo

Shi

et al. 2019

Sensors

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Thrusters are the bottom actuators of the amphibious spherical robot, and play an important role in the motion control of these robots. To realize accurate motion control, a thrust model for a new water-jet thruster based on hydrodynamic analyses is proposed in this paper. First, the hydrodynamic characteristics of the new thruster were numerically analyzed using computational fluid dynamics (CFD) commercial software CFX. The moving reference frame (MRF) technique was utilized to simulate propeller rotation. In particular, the hydrodynamics of the thruster were studied not only in the axial flow but also in oblique flow. Then, the basic framework of the thrust model was built according to hydromechanics theory. Parameters in the basic framework were identified through the results of the hydrodynamic simulation. Finally, a series of relevant experiments were conducted to verify the accuracy of the thrust model. These proved that the thrust model-based simulation results agreed well with the experimental results. The maximum error between the experimental results and simulation results was only 7%, which indicates that the thrust model is precise enough to be utilized in the motion control of amphibious spherical robots.

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“…Therefore, these robots can be used in various operations in areas that are not accessible to humans. Robots are able to perform difficult and unusual tasks thanks to their rich movement and sensory abilities [3]. Today, there is a significant increase in the assistance of robotic systems to people in different environments.…”

Section: Introductionmentioning

confidence: 99%

A Design Methodology for Cuttlefish Shaped Amphibious Robot

Arslan¹,

Akça²

2019

European Journal of Science and Technology

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Most of the engineering problems can be easily solved by using biomimetic designs. Biomimetic is the process of imitating live animals to create new designs. For example, by mimicking the movements of a fish or snake, it is possible to transfer the desired swimming or crawling movements to a robot. This research is based on an amphibious robot where the propulsion system is imitated by a cuttlefish. In this study, to obtain the required sine wave motion for the cuttlefish's fin, crank-rocker mechanisms are used. Additionally, a circular slot mechanism was used to move these crank-rocker mechanism up and down as in the cuttlefish fins. Since the cuttlefish has two symmetrical wings, these crank-rocker and circular slot mechanisms are repeated symmetrically on both sides. Two separate servo motors (one on the right and one on the left) were used to control the angular position of the crankshafts in circular slots. These servo motors allow the fins to move up and down while the robot is in the water. They also serve to hold the wings at a fixed angle in terrestrial mode. In similar applied robotic researches, dozens of servo motors are used to obtain the required sine motion. This study proposes a propulsion system that can be operate with simple crank-rocker and circular slot mechanisms, instead of using too many servo motors that are expensive and constitutes control complexity. In this study, a design methodology is proposed for this new propulsion system. Various conditions have been considered in the design procedure. In the design criteria section, the required force and velocity, the capacity to overcome obstacles and the motion requirements has been considered for an amphibious robot. Furthermore, the requirements of a continuous movement for oscillating motion have been also considered. As a result of this study, minimum crank number and crank angles were obtained for the undulating motion. It has been also considered the necessary continuous balance condition, in order to make motion on land without tumbling. The calculation of the part lengths that meets the design criteria is described in the mechanism synthesis section.

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Design of a wheel-propeller-leg integrated amphibious robot

Cited by 16 publications

References 6 publications

Dynamic Modelling of a CPG-Controlled Amphibious Biomimetic Swimming Robot

Dynamic Modelling of a CPG-Controlled Amphibious Biomimetic Swimming Robot

Hydrodynamic Analysis-Based Modeling and Experimental Verification of a New Water-Jet Thruster for an Amphibious Spherical Robot

A Design Methodology for Cuttlefish Shaped Amphibious Robot

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