Design of Beaver-like Hind Limb and Analysis of Two Swimming Gaits for Underwater Narrow Space Exploration

Chen, Gang; Ti, Xiaocong; Shi, Liangcai; Hu, Huosheng

doi:10.1007/s10846-022-01610-7

Cited by 8 publications

(8 citation statements)

References 34 publications

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“…Robots with these joints, like Hirose's amphibious ACM-R5, exhibit enhanced mobility and adaptability to various environments. This robot, in particular, features a sealed design with flexible bellows and an aluminum exterior [5]. Similarly, other robots like GMD-Snake2 by Linnemann et al, SSR-II by Takeshi et al and the Orochi series by Takanash et al from NEC [33][34][35], have also extensively incorporated universal joints.…”

Section: Rotational Jointsmentioning

confidence: 99%

“…Similarly, J i [0 0 L i 1] T , where i belongs to [1,3,5,7]. Subsequently, the tool-coordinate system's position in the zero-coordinate system is depicted in Eq.…”

Section: Kinematics Of the Snake-like Robotmentioning

confidence: 99%

“…These robots emulate various aquatic entities, ranging from fish, octopuses, and jellyfish to starfish, turtles, and scallops [2][3][4]. A recent innovation in this realm is a beaver-inspired hind limb underwater robot, crafted specifically for intricate underwater navigation [5]. Snakes, with their elongated, limbless form and adaptability across diverse terrains, have become a focal point for the development of snake-like robots.…”

Section: Introductionmentioning

confidence: 99%

“…Their efficiency was augmented with the inclusion of additional wheels or supports. For instance, Hirose's ACM III showcased 20 wheeled modules, while ACM-R3 and Crespi's AmphiBot I and II had wheels centrally positioned on each joint [4][5][6][15][16][17]. However, the utility of passive wheels was confined to relatively even terrains.…”

Section: Introductionmentioning

confidence: 99%

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Design and architecture of a slender and flexible underwater robot

Wang,

Song,

Liu

et al. 2024

Intel Serv Robotics

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This paper presents the design and analysis of a biomimetic underwater snake-like robot, addressing the main limitations of current underwater robotic systems in terms of maneuverability and adaptability in complex environments. The innovative design incorporates flexible joint modules that significantly enhance the robot’s ability to navigate through narrow and irregular terrains, which is a notable limitation in traditional rigidly connected underwater robots. These flexible joints provide increased degrees of freedom and enable the robot to absorb and release energy, ensuring stability even under external impacts, thus extending the operational lifespan of the robot. Finite element analysis demonstrates the flexible joints’ superior performance in various underwater conditions, offering a greater range of motion and workspace compared to rigid connections. The results indicate that the robot’s modular design, combined with the flexible joint module, leads to improved agility and maneuverability, allowing for precise and intentional operation. The control module, equipped with advanced sensors and a CPU, manages the complex dynamics introduced by the flexible joints, ensuring effective navigation and operation. The specific advantages of this design include the robot’s enhanced structural integrity, its ability to conform to irregular surfaces, and its adaptability to environmental variations. The paper concludes with a discussion on the implications of these findings for the future design and operation of underwater serpentine robots, emphasizing the need for a balance between the effects of elastic modulus and workspace to maximize the benefits of flexible joints.

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Section: Rotational Jointsmentioning

confidence: 99%

“…Similarly, J i [0 0 L i 1] T , where i belongs to [1,3,5,7]. Subsequently, the tool-coordinate system's position in the zero-coordinate system is depicted in Eq.…”

Section: Kinematics Of the Snake-like Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Design and architecture of a slender and flexible underwater robot

Wang,

Song,

Liu

et al. 2024

Intel Serv Robotics

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“…They adopt the movement mode of underwater amphibians or fish to obtain excellent movement performance and stability [3]. In contrast, biological beavers have short forelimbs and small feet, strong hind limbs with webbed feet, and a broad flat tail, which has high speed and flexibility in water [4].…”

Section: Introductionmentioning

confidence: 99%

Dynamic tail modeling and motion analysis of a beaver-like robot

Chen

Wang

et al. 2023

Preprint

Self Cite

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The beaver-like underwater robot can crawl and swim, playing a significant role in the exploration of amphibious environments. Its fan-shaped tail can provide part of the forward power and maintain its motion stability. However, no mature dynamic modeling method is available to model its tail motion until now. This paper presents a segmented dynamic modeling approach to build the propulsion and lift models of a beaver-like robot tail. It combines hydrodynamics and material mechanics and forms the fan-shaped flexible dynamics modeling theory. A performance index is created to measure the motion performance of the tail, which provides a theoretical basis for describing and evaluating the tail function. Simulations and experiments are conducted to verify the tail dynamic model and the motion performance under different swing amplitude coefficients. The obtained optimal swing amplitude coefficient is 2, which lays the foundation for robot motion control. The study could further promote the development of dynamic modeling and analysis for other underwater biomimetic robots.

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