Gait Planning and Simulation Analysis of a New Amphibious Quadruped Robots

Abstract

In order to allow quadruped robots to adapt to the complex working environment in the field of fisheries and aquaculture, a new type of quadruped robot with linear and rotary driving is proposed, and the kinematic inverse solution of the leg of the quadruped robot is deduced. For achieving quadruped robot smooth walking, the straight gait of the quadruped robot is planned according to the stability margin principle of motion, so that the stability margin of the machine is 20 mm when three legs supporting it. The planning gait is simulated by ADAMS software, the kinematics and dynamics analysis of the four main driving mechanisms of the robot leg were carried out, and the feasibility of using the STEP5 driving function to execute the planning gait in the quadruped robot was verified. The theoretical and simulation curve analysis results show that, the quadruped robot according to the planned gait can complete the cycle and have a stable walking. The results of this study can provide a reference for the practical application of the new amphibious quadruped robot in the fields of complex and uneven ground in the field of fisheries and aquaculture to realize exploration, fishing and transportation.

Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure

“…MUWA is a variable pitch quadrotor flying robot for multifield locomotion, that is, standing and rolling at a given tilt angle on the ground like a tire, along with floating and moving on the water surface [ 7 ]; the MMALV [ 8 ] (morphing micro air-land vehicle) robot is a new type of micro air and land vehicle that can carry out aviation and land movement. It is an integration of power, joint, and leg passive adaptation, which allows it to fly, land, and walk on the ground and over obstacles, etc., so it can be widely applied in different field environments; the “Pegma” deformable land and air amphibious robot [ 9 – 11 ], which can carries a variety of loads, has an endurance of 20 minutes, a maximum travel speed of 4.8 km/h, a maximum flight speed of 84 km/h, and so on. The research on an amphibious robot in land and air that started late in China, especially the amphibious equipment in land and air that can complete vertical takeoff and landing, is few.…”