NDLI: Modeling the rotational paddling of an ePaddle-based amphibious robot

Content Provider	IEEE Xplore Digital Library
Author	Yi Sun Shugen Ma Fujita, K. Yang Yang Huayan Pu
Copyright Year	2012
Description	Author affiliation: School of Mechatronics Engineering and Automation, Shanghai University, 149 Yanchang Road, China (Huayan Pu) \|\| Department of Robotics, Ritsumeikan University, 525-8577 Shiga, Japan (Yi Sun; Shugen Ma; Fujita, K.; Yang Yang)
Abstract	To enhance the mobility of amphibious robots for multi-terrains tasks, we have proposed an eccentric paddle locomotion mechanism (ePaddle) with several feasible terrestrial and aquatic gaits. In this paper, we present a rigid paddle model for predicting the thrust force in one of the aquatic gaits, namely the rotational paddling gait. Thrust forces calculated by this model demonstrate the idea that by relocating the paddle shaft eccentrically from its wheel center, the rotating paddles will generate vectored thrust force for swimming. The paddling motion and the validity of the rigid paddle model are verified by experiments in a water tank.
Starting Page	610
Ending Page	615
File Size	1405269
Page Count	6
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385580
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Wheels Mobile robots Shafts Force measurement Drag
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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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
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