Initial Development of a Novel Amphibious Robot with Transformable Fin-Leg Composite Propulsion Mechanisms

Zhang, Shiwu; Liang, Xu; Xu, Lichao; Xu, Min

doi:10.1016/s1672-6529(13)60247-4

Cited by 48 publications

(21 citation statements)

References 22 publications

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“…The robot imitates wheeled movement on rough land and soft substrates (e.g. sandy and muddy terrain) by rotating the curved legs, and it also imitates fin propulsion with the vectored thrust produced by oscillating the straight flippers (Zhang et al, 2013(Zhang et al, , 2015. The transformation and propulsion motions are realized by six sets of driving mechanisms that delicately integrate driving motors and assisting motors.…”

Section: Locomotion Platform For Field Applicationmentioning

confidence: 99%

“…AQUA series robot, which stems from the RHex robot, can achieve aquatic maneuvers such as hovering, descending, lift-off, yawing and rolling by utilizing six flippers oscillating as propulsion mechanisms (Prahacs et al, 2004;Dudek et al, 2007). Compared with the aforementioned robots, AmphiHex-I performs a good locomotion performance not only in the rough terrains and aquatic environments but also in muddy or sandy substrates, because of its unique transformable leg-flipper composite propulsion mechanism (Liang et al, 2012;Zhang et al, 2013Zhang et al, , 2015. However, there are some control difficulties with the novel leg-flipper mechanism and motion patterns, such as being hard to change the velocity timely and the complex control program, which is due to multiple gaits, which has hindered the field application of the robot.…”

Section: Introductionmentioning

confidence: 99%

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Application of bio-inspired control of AmphiHex-I in detection ofOncomelania hupensis, the amphibious snail intermediate host ofSchistosoma japonicum

Zhou

Zhong

Fang

et al. 2017

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Purpose -This paper aims to construct a central pattern generator (CPG) network that comprises coupled nonlinear oscillators to implement diversified locomotion gaits of robot AmphiHex-I. With the gaits, AmphiHex-I will have a strong locomotion ability in an amphibious environment, which is motivated by a novel public health application to detect the amphibious snail, Oncomelania hupensis, the snail intermediate host of Schistosoma japonicum, as an amphibious robot-based tool for schistosomiasis surveillance and response in the future. Design/methodology/approach -First, the basis neural network was built by adopting six Hopf nonlinear oscillators which corresponded to six legs. Then, the correlation between the self-excited harmonic output signals generated from CPGs and various gaits was established. In view of requirements on its field application, the authors added a telecontrol system and an on-board battery to support the real-life remote control and a high-definition camera and a global positioning system module to acquire images and position information. Finally, the authors conducted the testing experiments on several tasks, e.g. detecting the distribution of Oncomelania hupensis snails. Findings -The results demonstrate that the CPG is effective in controlling the robot's diversified locomotion gaits. In addition, the robot is capable of fulfilling several testing tasks in the experiments. Originality/value -The research provides a method based on CPG to control a hexapod robot with multiple motion patterns, which can effectively overcome the difficulty of motion control simply by changing certain mathematical parameters of a nonlinear equation, such as frequency, phase difference and offset angle, so as to realize the gait transitions. Also, using such a robot to probe the distribution of snails offers another way to tackle this laborious job, especially in some odious terrains, which will hence broaden the application of AmphiHex-I to vector surveillance in the fields of public health.

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Section: Locomotion Platform For Field Applicationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Application of bio-inspired control of AmphiHex-I in detection ofOncomelania hupensis, the amphibious snail intermediate host ofSchistosoma japonicum

Zhou

Zhong

Fang

et al. 2017

Self Cite

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“…To realize the effective motion of shoal operating robot in complex amphibious environment, the research of a newtype coupling driving mechanism has gradually become a hot topic. [4][5][6] Based on this, the leg-paddle hybrid driving crablike robot is proposed in this article by taking Portunus trituberculatus as bionic prototype, combining the leg's crawling mode and paddle's flapping mode, by which the robot can walk on land or seabed and swimming underwater. According to the operation environment and task requirements, the robot can select walking mode or swimming mode independently with no need to replace propulsion mechanism.…”

Section: Introductionmentioning

confidence: 99%

Experimental research and floating gait planning of crablike robot

Wang

Yan

Wang

et al. 2020

Advances in Mechanical Engineering

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In order to improve the swimming performance of a paddle-propelled crablike robot, the sequence and parameters of swimming gait are planned according to the bionic swimming mechanism. Based on the bionic prototype of Portunus trituberculatus, the structure scheme of a leg-paddle hybrid driven robot is proposed with the functions of walking on land, crawling on seabed, and swimming underwater. By analyzing the underwater propulsion mechanism of single paddle and hydrodynamic performance of double paddles cooperatively propulsion, four direct swimming gaits are planned and the corresponding attitude changes are theoretically analyzed. Then, the numerical simulation and direct swimming experiments are carried out to verify the effectiveness of proposed gaits and correctness of force analysis. In alternate swimming gait of lift-based mode, the robot swims forward in a rolling attitude, with an advantage of the minimum water resistance and the optimum swimming velocity and efficiency. The influence of flapping frequency and relative phases of paddles on the swimming velocity shows the trend of raise first and then fall.

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“…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. Burada, ¨ ve ¨ ivmenin yatay ve du şey bileşenlerini, g yer çekim ivmesini, β0 sarkacın başlangıçta yer ile yaptıg ı açıyı, T sarkaç kuvvetini, Fw suyun kaldırma kuvvetini, Dw, ise suyun direncini ifade etmektedir.…”

Section: Introductionunclassified

Robotik Uygulamalar İçin Titreşime Dayalı Hareket Eden Amfibik İlerleme Mekanizması

Tapan

Reis

2020

Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi

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Bu çalışma, robotik uygulamaları için, titreşime dayalı olarak hem karada hem de su üzerinde hareket edebilen, yenilikçi bir ilerleme mekanizmasını tanıtmaktadır. İlerleme mekanizması, su üzerinde batmadan durmasını sağlayan düşük yoğunluklu dikey kanat profiline sahip iki ayaktan ve U şeklinde yay çeliğinden üretilmiş elastik bir çubuktan oluşmaktadır. U şekilli çubuğun ortasına yerleştirilen basit bir sarkaç vasıtası ile sistem titreşime zorlanarak ilerleme gerçekleştirilmektedir. Su içerisinde dikey konumlandırılmış ayaklar salınım yaptıkça ön ve arka yüzeyler arasında oluşan basınç farkı ile robot ileri yönde hareket etmektedir. Karadaki hareketi ise elastik kirişin doğal titreşim modlarına bağlı olarak gerçekleşmektedir. Çalışmada farklı titreşim frekanslarının ilerleme hızına ve yer değiştirme maliyetine etkisi deneyler ile incelenmiş ve sonuçlar yorumlanmıştır. Buna ek olarak ön modelin yer değiştirme maliyeti (CoT) literatürdeki bazı robotlar ve canlılar ile karşılaştırılmıştır.

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Initial Development of a Novel Amphibious Robot with Transformable Fin-Leg Composite Propulsion Mechanisms

Cited by 48 publications

References 22 publications

Application of bio-inspired control of AmphiHex-I in detection ofOncomelania hupensis, the amphibious snail intermediate host ofSchistosoma japonicum

Application of bio-inspired control of AmphiHex-I in detection ofOncomelania hupensis, the amphibious snail intermediate host ofSchistosoma japonicum

Experimental research and floating gait planning of crablike robot

Robotik Uygulamalar İçin Titreşime Dayalı Hareket Eden Amfibik İlerleme Mekanizması

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