On a Bio-inspired Amphibious Robot Capable of Multimodal Motion
On a Bio-inspired Amphibious Robot Capable of Multimodal Motion
复制标题
具有多模态运动能力的仿生两栖机器人
DOI：
10.1109/tmech.2011.2132732
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发表时间：
2012-10
期刊：
影响因子：
--
通讯作者：
Zhang, Jianwei
中科院分区：
文献类型：
--
作者：
Yu, Junzhi;Ding, Rui;Yang, Qinghai;Tan, Min;Wang, Weibing;Zhang, Jianwei
本文讨论了系统设计和运动控制的多功能两栖机器人，AmphiRobot-II，启发各种两栖动物的原则，在动物王国。根据现有两栖动物的推进特性，提出了一种新型的轮桨鳍混合推进机构，该机构将鱼类或类海豚的游动和基于轮的爬行结合起来。该机器人不仅能够在陆地上实现灵活的轮式运动，还能够在水下进行稳定有效的鱼类或鱼类游泳，并可以通过专门的旋转装置在这两种模式之间进一步切换。为了实现多模态运动，提出了一种用于陆地转弯运动的身体变形转向方法，并相应地获得最小转弯半径。一个中央模式发生器启发水下运动控制的物理机器人也实现和测试。基于上述设计，AmphiRobot-II原型已经建成，并已成功地证实了混合推进方案和两栖控制方法的有效性。
This paper addresses the system design and locomotion control for a versatile amphibious robot, AmphiRobot-II, inspired by various amphibian principles in the animal kingdom. In terms of the propulsion features of existing amphibians, a novel hybrid propulsive mechanism coupled with wheel-propeller-fin movements is proposed that integrates fish- or dolphin-like swimming and wheel-based crawling. The robot is able not only to implement flexible wheel-based movements on land, but also to perform steady and efficient fish- or dolphin-like swimming under water and can further switch between these two patterns via a specialized swivel device. To achieve multimodal motions, a body deformation steering approach is proposed for the turning locomotion on land with minimum turning radius obtained accordingly. A central pattern generator inspired underwater locomotion control is also implemented and tested on the physical robot. Based on the aforementioned design, the AmphiRobot-II prototype has been built and has successfully demonstrated to confirm the effectiveness of the hybrid propulsive scheme and the amphibious control approaches.
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DOI：
10.1109/robio.2007.4522260
发表时间：
2007-12
期刊：
2007 IEEE International Conference on Robotics and Biomimetics (ROBIO)
影响因子：
--
作者：
Qinghai Yang;Junzhi Yu;M. Tan;Weibing Wang
通讯作者：
Qinghai Yang;Junzhi Yu;M. Tan;Weibing Wang
DOI：
10.1109/icara.2000.4803946
发表时间：
2000-02
期刊：
2009 4th International Conference on Autonomous Robots and Agents
影响因子：
--
作者：
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通讯作者：
L. A. Hirano;L. Martins-Filho;R. O. Duarte;José Fernando de Paiva
影响因子：
2.8
作者：
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通讯作者：
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影响因子：
2
作者：
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通讯作者：
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影响因子：
6.4
作者：
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通讯作者：
Dario, Paolo