AQUA: an aquatic walking robot

Georgiades, Christina; German, A.; Hogue, Andrew; Liu, Hui; Prahacs, Chris; Ripsman, A.; Sim, Robert B.; Torres, Lionel; Zhang, Pifu; Buehler, M.; Dudek, Gregory; Jenkin, Michael; Milios, Evangelos

doi:10.1109/iros.2004.1389962

Cited by 94 publications

(47 citation statements)

References 10 publications

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“…This is possible due to the fact that the lower legs of the wheel-leg pass through the water while the upper legs emerge from the water and pass through the air. This creates a paddleboat-like effect allowing the robot to move along the surface of the water in a manner similar to the RHex and ASGAURD robots [8,18,22]. Travelling at the surface makes communication with the robot easier, allows for visual servoing and makes the robot easier to retrieve in the event that control is lost.…”

Section: Aquatic Locomotion Strategiesmentioning

confidence: 99%

“…These efforts have included wheeled and tracked variants such as the Foster-Miller LEM-MING [2], legged and crawling robots [3][4][5][6], snake robots [7] and walking-platforms such as AQUA [8] based on the RHex [9] platform, which, with manual adjustment, may be transitioned from walking to swimming locomotion. To date, however, a rugged robot capable of robust autonomous locomotion has yet to be fully developed for operations such as beach mine detection and clearing.…”

Section: Introductionmentioning

confidence: 99%

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Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility

Boxerbaum¹,

Klein²,

Kline³

et al. 2012

J. Robot. Mechatron.

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Surf-zone environments represent an extreme challenges to robot operation. A robot that autonomously navigates rocky terrain, constantly changing underwater currents, hard-packed moist sand and loose dry sand characterizing this environment, would have significant utility in a range of defence and civilian missions. The study of animal locomotion mechanisms can elucidate specific movement principles that can be applied to address these demands. In this work, we report on the design and optimization of a biologically inspired amphibious robot for deployment and operation in an ocean beach environment. We specifically report a new design fusing a range of insectinspired passive mechanisms with active autonomous control architectures to seamlessly adapt to and traverse a range of challenging substrates both in and out of the water, and the design and construction of SeaDog, a proof-of-concept amphibious robot built for navigating rocky or sandy beaches and turbulent surf zones. The robot incorporates a layered hull and chassis design that is integrated into a waterproof Explorer Case in order to provide a large, protected payload in an easy-to-carry package. It employs a rugged drivetrain with four wheel-legs and a unique tail design and actuation strategy to aid in climbing, swimming and stabilization. Several modes of terrestrial and aquatic locomotion are suggested and tested versus range of mobility metrics, including data obtained in simulation and hardware testing. A waterproofing strategy is also tested and discussed, providing a foundation for future generations of amphibious mobile robots.

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Section: Aquatic Locomotion Strategiesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility

Boxerbaum¹,

Klein²,

Kline³

et al. 2012

J. Robot. Mechatron.

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show abstract

“…Continuous rotation of the fins produces a kind of terrestrial movement. A water tight version of RHex [27] has also been equipped with fin-like legs that allow it to swim under water. The neuromechanical design of a more recent amphibious robot is based upon salamanders and it can run on land and swim using the same central pattern generator [48].…”

Section: Multi-mode Mobilitymentioning

confidence: 99%

A biologically inspired micro-vehicle capable of aerial and terrestrial locomotion

Bachmann¹,

Boria

Vaidyanathan

et al. 2009

Mechanism and Machine Theory

110

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“…Among these platforms biologically inspired power autonomous RHex-class robots [2] stand out because of 1) their ability to negotiate previously unaccessible terrains untethered [33]; 2) their wide behavioral repertoire; and 3) the volume of studies they have enabled [1,20,[34][35][36][37][38]. Furthermore, while their morphology and actuation scheme diverge significantly from that of the SLIP model, RHex-class robots can passively anchor [39] the SLIP dynamics in properly tuned gaits [40].…”

Section: Introductionmentioning

confidence: 99%

Characterization of Dynamic Behaviors in a Hexapod Robot

Komsuoğlu

Majumdar

Ozkan-Aydin

et al. 2014

Experimental Robotics

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This paper investigates the relationship between energetic effi-ciency and the dynamical structure of a legged robot's gait. We present an experimental data set collected from an untethered dynamic hexapod, EduBot [1] (a RHex-class [2] machine), operating in four distinct manually selected gaits. We study the robot's single tripod stance dynamics of the robot which are identified by a purely jointspace-driven estimation method introduced in this paper. Our results establish a strong relationship between energetic efficiency (simultaneous reduction in power consumption and in-crease in speed) and the dynamical structure of an alternating tripod gait as measured by its fidelity to the SLIP mechanics-a dynamical pattern exhibit-ing characteristic exchanges of kinetic and spring-like potential energy [3]. We conclude that gaits that are dynamic in this manner give rise to better uti-lization of energy for the purposes of locomotion. Abstract This paper investigates the relationship between energetic efficiency and the dynamical structure of a legged robot's gait. We present an experimental data set collected from an untethered dynamic hexapod, EduBot [1] (a RHex-class [2] machine), operating in four distinct manually selected gaits. We study the robot's single tripod stance dynamics of the robot which are identified by a purely jointspace-driven estimation method introduced in this paper. Our results establish a strong relationship between energetic efficiency (simultaneous reduction in power consumption and increase in speed) and the dynamical structure of an alternating tripod gait as measured by its fidelity to the SLIP mechanics-a dynamical pattern exhibiting characteristic exchanges of kinetic and spring-like potential energy [3]. We conclude that gaits that are dynamic in this manner give rise to better utilization of energy for the purposes of locomotion.

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AQUA: an aquatic walking robot

Cited by 94 publications

References 10 publications

Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility

Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility

A biologically inspired micro-vehicle capable of aerial and terrestrial locomotion

Characterization of Dynamic Behaviors in a Hexapod Robot

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