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This paper addresses the system design and locomotion control for a versatile amphibious robot, AmphiRobot-II, inspired by various amphibian principles in the animal kingdom. In terms of the propulsion features of existing amphibians, a novel hybrid propulsive mechanism coupled with wheel-propeller-fin movements is proposed that integrates fish- or dolphin-like swimming and wheel-based crawling. The...
This paper presents the behavior design and multimodal locomotion control of a biomimetic amphibious robot based on a bio-inspired CPG (central pattern generator). A set of four key parameters are introduced serving as external stimuli to shape the CPG rhythmic activities where necessary speed and orientation modulation as well as 3-D locomotion can be obtained. In terms of the built parameter set,...
This paper presents a control architecture for the underwater locomotion control of a biomimetic amphibious robot with multi-mobility mechanism. In view of both hydrodynamic problem and engineering approach, we develop a robotic prototype capable of multi-mode motion. A robust gait control for steady swimming using the central pattern generator (CPG) is proposed and has been successfully applied to...
This paper addresses a platform-based design for a bio-inspired amphibious robot well-suited for multi-mode motion both on ground and under water. It concerns mechanical design, hardware implementation, software design, as well as ADAMS-based modeling. By introducing well-established software and hardware architectures, an ARM+uC/OS-II centered embedded control system is formed. With the sensor subsystem...
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