On a Bio-inspired Amphibious Robot Capable of Multimodal Motion
文献类型：期刊论文
| 作者 | Yu Junzhi ; Ding Rui; Yang Qinghai; Tan Min; Wang Weibing; Zhang Jianwei
|
| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2012-10-01 |
| 卷号 | 17期号:5页码:847-856 |
| 关键词 | Amphibious robot bio-inspired robot mechanical design motion control multimodal motion |
| 通讯作者 | Yu Junzhi |
| 英文摘要 | 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 onland 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 amphibiouscontrol approaches. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 关键词[WOS] | LOCOMOTION ; ALGORITHM ; WALKING ; DESIGN ; SYSTEM ; MODEL ; FISH |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000307904800005 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3486]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 推荐引用方式 GB/T 7714 | Yu Junzhi,Ding Rui,Yang Qinghai,et al. On a Bio-inspired Amphibious Robot Capable of Multimodal Motion[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2012,17(5):847-856. |
| APA | Yu Junzhi,Ding Rui,Yang Qinghai,Tan Min,Wang Weibing,&Zhang Jianwei.(2012).On a Bio-inspired Amphibious Robot Capable of Multimodal Motion.IEEE-ASME TRANSACTIONS ON MECHATRONICS,17(5),847-856. |
| MLA | Yu Junzhi,et al."On a Bio-inspired Amphibious Robot Capable of Multimodal Motion".IEEE-ASME TRANSACTIONS ON MECHATRONICS 17.5(2012):847-856. |
入库方式： OAI收割
来源：自动化研究所
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