NDLI: On a Bio-inspired Amphibious Robot Capable of Multimodal Motion

Content Provider	IEEE Xplore Digital Library
Author	Yu, J. Ding, R. Yang, Q. Tan, M. Wang, W. Zhang, J.
Copyright Year	1996
Abstract	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.
Starting Page	847
Ending Page	856
Page Count	10
File Size	825493
File Format	PDF
ISSN	10834435
Volume Number	17
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Propulsion Wheels Motion control Robot kinematics multimodal motion Amphibious robot bio-inspired robot mechanical design motion control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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