Preliminary development of a biomimetic amphibious robot capable of multi-mode motion
Preliminary development of a biomimetic amphibious robot capable of multi-mode motion
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DOI：
10.1109/robio.2007.4522260
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发表时间：
2007-12
期刊：
影响因子：
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通讯作者：
Qinghai Yang;Junzhi Yu;M. Tan;Weibing Wang
中科院分区：
文献类型：
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作者：
Qinghai Yang;Junzhi Yu;M. Tan;Weibing Wang
本文提出了一种能够进行多模式运动的两栖机器人的机电问题，其灵感完全来自于自然界提供的一些令人印象深刻的推进方案。考虑到鱼类和鲸类利用的摆动鳍在水下是一种高效的推进方式，而在陆地上则是另一个强大的对手，设计了一种结合了兽状或海豚状游动和轮状运动的多用途两栖推进机构。基于模块化结构，该机器人由一个头部、多个相同的推进单元和一个扑翼组成，从而实现了灵活的推进、可靠的维护以及可扩展的制造。在此基础上，设计了基于arm的嵌入式控制系统，并给出了相应的运动控制算法。通过样机的初步实验，最终验证了多运动机构和控制的有效性。
This paper presents the mechatronic issues of an amphibious robot capable of multi-mode motion, entirely inspired by some impressive propulsion solutions offered by the Nature. Considering that the oscillating fin utilized by fishes and cetaceans is an efficient propulsive mode under water and wheel is another formidable opponent on ground, a multi-purpose, amphibious propulsive mechanism that combines carangiform or dolphin-like swimming and wheel-like motions is designed. Based on the module-based structure, the robot is composed of a head, multiple identical propelling-units, and a flapping foil, which allows for flexible propulsion, reliable maintenance, as well as scalable fabrication. Further, an ARM-based embedded control system is designed and corresponding motion control algorithms are addressed. Preliminary experiments with the prototype finally validate the effectiveness of the multi-mobility mechanism and control.