Mechanism Design and Gait Experiment of an Amphibian Robotic Turtle

被引：30

作者：

Han, Bin ^{[1
]}

Luo, Xin ^{[1
]}

Wang, Xinjie ^{[2
]}

Chen, Xuedong ^{[1
,2
]}

机构：

[1] Huazhong Univ Sci & Technol, State Key Lab Digital Mfg Equipment & Technol, Wuhan 430074, Peoples R China

[2] Zhengzhou Univ Light Ind, Zhengzhou 450002, Peoples R China

来源：

ADVANCED ROBOTICS | 2011年 / 25卷 / 16期

基金：

中国国家自然科学基金;

关键词：

Biomimetic robots; variable topology; robotic turtle; amphibian robot; reconfigurable mechanism; WALKING; CONSTRUCTION;

D O I：

10.1163/016918611X590300

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper we describe the design of a new bio-inspired amphibian robot with high environmental adaptability. The robot, called MiniTurtle-I, can transform terrestrial and aquatic locomotion configurations through a new variable topology mechanism (Leg-Flipper). Based on the modular design philosophy, four rotatory joint modules (Joints I-IV) constitute a Leg-Flipper module. Variable topology structure transformation of Leg-Flipper by actuation redundancy enables the robot to achieve a variety of locomotion. Our motivation is to provide another solution to achieve amphibious movement both easily and efficiently. A prototype of MiniTurtle-I is built to exam the configuration transformations. Terrestrial, aquatic and semiaquatic gait experiments are performed to verify the locomotion functions of the MiniTurtle-I. (C) Koninklijke Brill NV, Leiden, 2011

引用

页码：2083 / 2097

页数：15

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