A Novel Small-Scale Turtle-Inspired Amphibious Spherical Robot
2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)(2019)
摘要
This paper describes a novel small-scale turtle-inspired Amphibious Spherical Robot (ASRobot) to accomplish exploration tasks in the restricted environment, such as amphibious areas and narrow underwater cave. A Legged, Multi-Vectored Water-Jet Composite Propulsion Mechanism (LMVWCPM) is designed with four legs, one of which contains three connecting rod parts, one water-jet thruster and three joints driven by digital servos. Using this mechanism, the robot is able to walk like amphibious turtles on various terrains and swim flexibly in submarine environment. A simplified kinematic model is established to analyze crawling gaits. With simulation of the crawling gait, the driving torques of different joints contributed to the choice of servos and the size of links of legs. Then we also modeled the robot in water and proposed several underwater locomotion. In order to assess the performance of the proposed robot, a series of experiments were carried out in the lab pool and on flat ground using the prototype robot. Experiments results verified the effectiveness of LMVWCPM and the amphibious control approaches.
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关键词
amphibious areas,water-jet thruster,amphibious turtles,prototype robot,amphibious control approaches,small-scale turtle-inspired amphibious spherical robot,legged multivectored water-jet composite propulsion mechanism,ASRobot,exploration tasks,underwater cave,digital servos,submarine environment,kinematic model,crawling gaits,driving torques,underwater locomotion
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