TY - GEN
T1 - A Novel Small-scale Turtle-inspired Amphibious Spherical Robot
AU - Xing, Huiming
AU - Guo, Shuxiang
AU - Shi, Liwei
AU - Hou, Xihuan
AU - Liu, Yu
AU - Liu, Huikang
AU - Hu, Yao
AU - Xia, Debin
AU - Li, Zan
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85081158159&partnerID=8YFLogxK
U2 - 10.1109/IROS40897.2019.8968304
DO - 10.1109/IROS40897.2019.8968304
M3 - Conference contribution
AN - SCOPUS:85081158159
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1702
EP - 1707
BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Y2 - 3 November 2019 through 8 November 2019
ER -