TY - GEN
T1 - Design and Evaluation of the Terrestrial Gait of the Bionic Robotic Duck
AU - Li, Zhengyu
AU - Shi, Liwei
AU - Guo, Shuxiang
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - With the exploration of the ocean, amphibious robots can integrate the advantages of underwater and land robots, and can achieve detection on land, underwater, and seabed. This topic proposed the idea of bionic waterfowl, designed a set of amphibious bionic waterfowl robot prototype, and built the machinery platform and control system platform. The robot’s dynamic leg and head and neck are moved by modeling; two kinds of land gait designs and simulation analysis of the robot are carried out by ADAMS software. In the simulation process, by adjusting the leg bending angle and joint rotation frequency of the two basic gaits designed, the robot can have a certain ability to overcome obstacles, and can run smoothly on horizontal ground and slopes with different angles. progress. Finally, according to the experimental results, the relationship curves between the leg bending angle and the anterior distance and the joint rotation frequency and the anterior distance were fitted. The bionic duck robot can choose the most suitable gait through the expression of fitting curve under different land environment conditions.
AB - With the exploration of the ocean, amphibious robots can integrate the advantages of underwater and land robots, and can achieve detection on land, underwater, and seabed. This topic proposed the idea of bionic waterfowl, designed a set of amphibious bionic waterfowl robot prototype, and built the machinery platform and control system platform. The robot’s dynamic leg and head and neck are moved by modeling; two kinds of land gait designs and simulation analysis of the robot are carried out by ADAMS software. In the simulation process, by adjusting the leg bending angle and joint rotation frequency of the two basic gaits designed, the robot can have a certain ability to overcome obstacles, and can run smoothly on horizontal ground and slopes with different angles. progress. Finally, according to the experimental results, the relationship curves between the leg bending angle and the anterior distance and the joint rotation frequency and the anterior distance were fitted. The bionic duck robot can choose the most suitable gait through the expression of fitting curve under different land environment conditions.
KW - Adams simulation
KW - Bionic duck robot
KW - Gait design
UR - http://www.scopus.com/inward/record.url?scp=85135862046&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-13844-7_31
DO - 10.1007/978-3-031-13844-7_31
M3 - Conference contribution
AN - SCOPUS:85135862046
SN - 9783031138430
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 317
EP - 327
BT - Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings
A2 - Liu, Honghai
A2 - Ren, Weihong
A2 - Yin, Zhouping
A2 - Liu, Lianqing
A2 - Jiang, Li
A2 - Gu, Guoying
A2 - Wu, Xinyu
PB - Springer Science and Business Media Deutschland GmbH
T2 - 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022
Y2 - 1 August 2022 through 3 August 2022
ER -