Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility (original) (raw)
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2005
The capability of autonomous and semi-autonomous platforms to function in the shallow water surf zone is critical for a wide range of military and civilian operations. Of particular importance is the ability to transition between locomotion modes in aquatic and terrestrial settings. The study of animal locomotion mechanisms can provide specific inspiration to address these demands. In this work, we summarize on-going efforts to create an autonomous, highly mobile amphibious robot. A water-resistant amphibious prototype design, based on the biologically-inspired Whegstrade platform, has been completed. Through extensive field-testing, mechanisms have been isolated to improve the implementation of the Whegstrade concept and make it more suited for amphibious operation. Specific design improvements include wheel-leg propellers enabling swimming locomotion, an active, compliant, water resistant, non-backdrivable body joint, and improved feet for advanced mobility. These design innovations allow Whegstrade to navigate on rough terrain and underwater, and accomplish tasks with little or no low-level control, thus greatly simplifying autonomous control system implementation. Complementary work is underway for autonomous control. We believe these results can lay the foundation for the development of a generation of amphibious robots with an unprecedented versatility and mobility
Transstellar journals, 2022
People in today's society embrace robot involvement as a smarter tool. The mid-twentieth century was a pivotal period in robotic research and development. Robots evolved from there as an industrial assistance device to the present amphibious robots. The human function is altering as a result of robotics. Robots are gradually infiltrating every industry, including manufacturing, healthcare, delivery, education, and space exploration. Scientists and researchers working in robotics place equal emphasis on ultra-large and microrobots. The notable trend in the sector is autonomous mobile robots, which automate the majority of human labor without actual human interaction. However, amphibious robots are a new developing technology in robotics that might revolutionize space functionality. This paper consists of the current classifications of amphibious robots, which primarily include the legged amphibious bot, duck feet inspired amphibious robot, salamander-like amphibious robot, sheds light on swimming and crawling in a snake-like amphibious robot which are optimized online, and it outlines a simulation-based design optimization strategy for an amphibious transformable robot carried out in different software like ANSYS FLUENT.