Aquapod: A small amphibious robot with sampling capabilities

Dhull, Sandeep; Canelon, Dario; Kottas, Apostolos; Dancs, Justin; Carlson, Andrew; Papanikolopoulos, Nikolaos

doi:10.1109/iros.2012.6385733

Cited by 12 publications

(4 citation statements)

References 7 publications

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“…The mechanism proposed by Li et al [17] is not feasible for the proposed model since the spherical robot has two different mechanisms for locomotion. The swimming mechanisms of the robots designed by Dhull et al [18], Dudek et al [19], and by Liang et al [20] were somewhat similar compared to the robot developed in this paper. Figure 1 shows the Aqua and Aquapod robot.…”

Section: Literature Reviewsupporting

confidence: 52%

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

et al. 2019

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Roaming complexity in terrains and unexpected environments pose significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration, namely, walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates a webbed duck feet design to walk on different terrains, swim in the water, and tackle obstructions on its way. The designed robot is compact, easy to use, and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Because of the design, the webbed feet are able to open and close with the help of water pressure. Klann linkages have been used to convert rotational motion to walking and swimming for the animal’s gait. Because of its amphibian nature, the designed robot can be used for exploring tight caves, closed spaces, and moving on uneven challenging terrains such as sand, mud, or water. It is envisaged that the proposed design will be appreciated in the industry to design amphibious robots in the near future.

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Section: Literature Reviewsupporting

confidence: 52%

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

et al. 2019

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“…The mechanism proposed by Li, et al [17], is not feasible for the proposed model since the spherical robot has two different mechanisms for locomotion. The swimming mechanism of the robot designed by Dhull, et al [18] Dudek, et al [19], and by Liang, et al [20] were somewhat similar compared to the robot developed in this paper. Figure 1 shows the Aqua and Aquapod robot.…”

Section: Literature Reviewmentioning

confidence: 53%

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

Kashem¹,

Jawed²,

Ahmed³

et al. 2019

Preprint

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Roaming complexity in terrains and unexpected environments poses significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration namely walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates webbed duck feet design to walk on different terrains, swim in water and tackle obstructions on its way. The designed robot is compact and easy-to-use and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Due to the design, the webbed feet are able to open and close with the help of water pressure. The Klann linkage has been used to convert rotational motion to walking and swimming as an animal's gait. Because of its amphibian nature, the designed robot can be used for exploring the tight caves, closed spaces and moving on uneven challenging terrains such as sand, mud or water.The presented model and design of the amphibious robot has been inspired by the working principle of duck feet. The propulsion generated through this feet system has been observed to be better and more controlled then the initial design and prototype of designed duck feet robot reported in [1]. The direction of movement can be managed, and the speed can be controlled using a larger contact area with water. Since duck is able to roam on both land and water, their feet movement during walking and swimming is adopted in designing the robot's four legs. Klann linkage is used to mimic such duck feet motion and the control mechanism of the feet is driven by DC motors and DC servo motors which are governed by an Arduino microcontroller. The robot is capable of sensing the presence of water through conductive sensors and detects obstacles using ultrasonic sensor while walking. Due to its amphibian nature and other features in movement, the robot is capable of traversing diversified terrains. It is envisaged that the proposed design will be appreciated in the industry to design amphibious robots in near future.

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“…This passive form of locomotion requires less energy to actuate than comparable active methods, such as thrusters, for moving vertically in a column of fluid. A combination of internal and external pressure sensors allow measurement of depth as well as the amount of ingested fluid residing in the BCU [20].…”

Section: Digital In-line Holographic Microscopementioning

confidence: 99%

Design and Experiments with a Robot-Driven Underwater Holographic Microscope for Low-Cost In Situ Particle Measurements

Mallery¹,

Canelon²,

Hong³

et al. 2019

Preprint

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Microscopic analysis of micro particles in situ in diverse water environments is necessary for monitoring water quality and localizing contamination sources. Conventional sensors such as optical microscopes and fluorometers often require complex sample preparation, are restricted to small sample volumes, and are unable to simultaneously capture all pertinent details of a sample such as particle size, shape, concentration, and three dimensional motion. In this article we propose a novel and cost-effective robotic system for mobile microscopic analysis of particles in situ at various depths which are fully controlled by the robot system itself. A miniature underwater digital in-line holographic microscope (DIHM) performs high resolution imaging of microparticles (e.g., algae cells, plastic debris, sediments) while movement allows measurement of particle distributions covering a large area of water. The main contribution of this work is the creation of a low-cost, comprehensive, and small underwater robotic holographic microscope that can assist in a variety of tasks in environmental monitoring and overall assessment of water quality such as contaminant detection and localization. The resulting system provides some unique capabilities such as expanded and systematic coverage of large bodies of water at a low cost. Several challenges such as the trade-off between image quality and cost are addressed to satisfy the aforementioned goals.

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Aquapod: A small amphibious robot with sampling capabilities

Cited by 12 publications

References 7 publications

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

Design and Experiments with a Robot-Driven Underwater Holographic Microscope for Low-Cost In Situ Particle Measurements

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