Establishment of basic technology of biomimetic underwater vehicles and applications

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Aiming at the automatic monitoring of environments along natural coastal areas and tidal flats, we designed and developed an amphibious robot equipped with fin actuators mimicking the locomotion of tortoises and sea turtles. We adopted the advantages of these 2 creatures in a robotic turtle, namely, the lift-based swimming mode that sea turtles use and the quadrupedal locomotion tortoises use. The swimming and walking performances of the robotic turtle were estimated by experiment and simulation. It has maneuverability in forward and backward motion, descending and ascending in the vertical direction, and turning at the same position using four fins. It also has a walking performance on water bed even in waves.