Locomotion Strategies for Amphibious Robots-A Review

Abstract

In the past two decades, unmanned amphibious robots have proven the most promising and efficient systems ranging from scientific, military, and commercial applications. The applications like monitoring, surveillance, reconnaissance, and military combat operations require platforms to maneuver on challenging, complex, rugged terrains and diverse environments. The recent technological advancements and development in aquatic robotics and mobile robotics have facilitated a more agile, robust, and efficient amphibious robots maneuvering in multiple environments and various terrain profiles. Amphibious robot locomotion inspired by nature, such as amphibians, offers augmented flexibility, improved adaptability, and higher mobility over terrestrial, aquatic, and aerial mediums. In this review, amphibious robots' locomotion mechanism designed and developed previously are consolidated, systematically The review also analyzes the literature on amphibious robot highlighting the limitations, open research areas, recent key development in this research field. Further development and contributions to amphibious robot locomotion, actuation, and control can be utilized to perform specific missions in sophisticated environments, where tasks are unsafe or hardly feasible for the divers or traditional aquatic and terrestrial robots.

Virtual Prototype-based Kinematic Modeling and Simulation of a Multi-mode Amphibious Robot

“…A novel wheel leg hybrid-based amphibious robot with an integrated rocker-bogie wheel paddle mechanism is introduced in this paper to negotiate obstacles on uneven terrain exploiting the legs of the robot and high-speed mobility using wheels. The existing amphibious robots in the literature [2] have minimal suspension suitable only for flat terrain profiles. However, the suspension is achieved through a legged robot with lower speed and mobility performance on both land and water.…”

“…The terrestrial and aquatic locomotion environment like near-shore, shallow waters demand high mobility and adaptability because of diverse terrain profiles such as sand, wetlands, rocks, uneven surfaces, and varying obstacles to overcome for complete maneuvering. Locomotion metrics like mobility and adaptability in these environments are excellent characteristics of amphibious animals [2]. Amphibious robotics has shown advancement in the past two decades; however, the research focuses on developing the propulsive mechanisms of robots to improve mobility performance in the aquatic medium.…”

A Multi-modal Deformable Land-air Robot for Complex Environments

“…However, it is often difficult for conventional single locomotion robots to adapt in these conditions. In contrast, multi-modal robots exhibit much higher flexibility and adaptability by combining wheels, legs, propellers, wings, fins, and hybrid actuators to achieve motion [1]. For example, land-air robots [2]- [6] offer both flying and driving capabilities for increased spatial flexibility while reducing the energy demands of continuous flight.…”

Design and Modeling of Klann Mechanism-Based Paired Four Legged Amphibious Robot

“…One of the characteristics of amphibious creatures is locomotion in diverse environments like water, ground, and aerial. Insects such as gecko and basilisk lizard inspire extraordinary locomotion capabilities to develop robotic systems [1]. Roboticists are exploring animals' designs and dynamic locomotion performance that can maneuver and adapt to a different environment.…”

“…Legged amphibious robots have gained momentum in recent years because of diverse gait patterns and maneuverability. Search and rescue operations employ legged amphibious robots [1]. The early study at the nanorobotics Carnegie melon university concentrated on the locomotion capabilities of legged lizards running on water and developed a robot platform that utilizes drag forces for propulsion.…”