Hybrid Locomotion Evaluation for a Novel Amphibious Spherical Robot

Abstract

Abstract:We describe the novel, multiply gaited, vectored water-jet, hybrid locomotion-capable, amphibious spherical robot III (termed ASR-III) featuring a wheel-legged, water-jet composite driving system incorporating a lifting and supporting wheel mechanism (LSWM) and mechanical legs with a water-jet thruster. The LSWM allows the ASR-III to support the body and slide flexibly on smooth (flat) terrain. The composite driving system facilitates two on-land locomotion modes (sliding and walking) and underwater locomotion mode with vectored thrusters, improving adaptability to the amphibious environment. Sliding locomotion improves the stability and maneuverability of ASR-III on smooth flat terrain, whereas walking locomotion allows ASR-III to conquer rough terrain. We used both forward and reverse kinematic models to evaluate the walking and sliding gait efficiency. The robot can also realize underwater locomotion with four vectored water-jet thrusters, and is capable of forward motion, heading angle control and depth control. We evaluated LSWM efficiency and the sliding velocities associated with varying extensions of the LSWM. To explore gait stability and mobility, we performed on-land experiments on smooth flat terrain to define the optimal stride length and frequency. We also evaluated the efficacy of waypoint tracking when the sliding gait was employed, using a closed-loop proportional-integral-derivative (PID) control mechanism. Moreover, experiments of forward locomotion, heading angle control and depth control were conducted to verify the underwater performance of ASR-III. Comparison of the previous robot and ASR-III demonstrated the ASR-III had better amphibious motion performance.

Collaboration and Task Planning of Turtle-Inspired Multiple Amphibious Spherical Robots

“…The structure of amphibious robot composed of two parts that contained a sealed transparent upper hemisphere and have a transparent quarter spherical shells, the shells can be opened and closed through the main circuit board sends a digital signal to control a servoing motor [38,39]. Between the upper hemisphere and lower hemisphere, a plastic plate for carrying the circuit boards, four actuating legs units and the battery installed on this plate.…”

Special Feature on Bio-Inspired Robotics

“…The LSWM allows ASR-III to support the body and slide flexibly on smooth (flat) terrain. The composite driving system facilitates two on-land locomotion modes (sliding and walking) and underwater locomotion mode with vectored thrusters, improving adaptability to the amphibious environment [21]. Gu and Guo present a novel propulsion system for the third-generation Spherical Underwater Robot (SURIII), the improved propulsion system is designed and analyzed to verify its increased stability compared to the second-generation Spherical Underwater Robot (SURII).…”

Robotik Uygulamalar İçin Titreşime Dayalı Hareket Eden Amfibik İlerleme Mekanizması

“…Güncel çalışmalarda bu yapının hız performansını eğimli ve nispeten pürüzsüz yüzeylerde arttırmak amacı ile küresel robotun her ayağına pasif bir tekerlek takılarak paten-kayma hareketi yapması sağlanmıştır [23]. Son olarak bir su jeti eklenerek su altında ileriye itilmesi ve yönlendirilmesi sağlanan bu karma yapı, bir hibrit amfibik küresel robot halini almıştır [24].…”

“…Bu şekilde yürüme, solunum ve yüzme gibi hareket modellerini kontrol edebilen bir robot hareket kontrol sistemi geliştirilmiş ve çok ayaklı bir amfibik robota uygulanmıştır [27]. Bunun yanında, amfibik kaplumbağalardan ilham alınarak, amfibik küresel bir robot geliştirilmiş [28] ve bu robot yapısı üzerine yukarıda belirtilen geliştirmeler [22][23][24] yapılarak, robotun hareket ve ilerleme performansı arttırılmıştır. Suyun üzerinde koşabilme yeteneği ile tanınan basilisk kertenkelesinden ilham alınarak tasarlanan, altı pedallı amfibik robot [29], suda yürüyebilen ve yüzebilen bir tür kuyruklu kurbağa cinsi semenderden ilham alınarak tasarlanan, dört bacaklı Salamandra robotu [30] ve son olarak, hamamböceğinden ilham alınarak tasarlanan, karma ilerleme mekanizmasına sahip altı bacaklı amfibik robot (AmphiHex-I) [31] doğayı taklit eden robot örneklerinin en bilinenleridir.…”