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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 deals with the motion control and dynamics modeling of an amphibious biomimetic robot capable of multi-mode motion. A robust gait control for steady swimming using a central pattern generator (CPG) is proposed and has been successfully applied to the robot, with coordinated movements of a pair of pectoral fins and multiple modular fish-like propelling units. Combined with the hydrodynamic...
This paper deals with an improved design scheme for an amphibious robot inspired by various amphibian principles in animal kingdom. Considering the propulsive features of existing amphibian modes synthetically, a novel hybrid propulsive mechanism that integrates fish-like swimming with wheel-paddle-fin movements is proposed. The robot is able to implement speedy and efficient fish-like or dolphin-like...
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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