Design and characteristic evaluation of a novel amphibious spherical robot

Guo, Jian; Guo, Shuxiang; Li, Liguo

doi:10.1007/s00542-016-2961-9

Cited by 22 publications

(3 citation statements)

References 26 publications

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“…In our previous work, we designed an spherical amphibious robot inspired by turtles [8], [9]. The robot uses a bionic fourlegged crawl on the land and uses water jets to propel in the water.…”

Section: A Related Workmentioning

confidence: 99%

A Novel Step Optimal Path Planning Algorithm for the Spherical Mobile Robot Based on Fuzzy Control

Guo

2020

IEEE Access

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In order to improve the ability of the spherical mobile robot to navigate and move autonomously in an unknown environment. This paper proposed a novel step optimal path planning method based on fuzzy control. Firstly, by analyzing the motion model of the spherical mobile robot, the arrangement and debugging of the ultrasonic sensors (HC-SR04) were completed. Then, through multi-sensor fusion technology and D-H parameter method, a fuzzy controller for the spherical mobile robot was designed. Finally, the proposed fuzzy control method was applied to the path planning of spherical mobile robot in unknown environment, and tested by a series of simulations and experiments. The results showed that the step optimal method based on fuzzy control could ensure that the spherical mobile robot completed the path planning. The experimental results also verified the effectiveness and practicability of the proposed novel path planning method. INDEX TERMS Spherical mobile robot, step optimal, fuzzy control.

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Section: A Related Workmentioning

confidence: 99%

A Novel Step Optimal Path Planning Algorithm for the Spherical Mobile Robot Based on Fuzzy Control

Guo

2020

IEEE Access

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“…12 Different from most existing mobile robots or autonomous underwater vehicles, the robot was able to work in complex and narrow environments like coral reefs and pipelines. 13,14 Due to the unique mechanical structure and the specialized application scenarios, designing a tracking system for our amphibious spherical robot was a challenging task. First, the load space of the robot was very narrow and was designed as enclosed for waterproofing.…”

Section: Amphibious Spherical Robotsmentioning

confidence: 99%

A system on chip-based real-time tracking system for amphibious spherical robots

Guo

Pan

et al. 2017

International Journal of Advanced Robotic Systems

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Aiming at vision applications of our amphibious spherical robot, a real-time detection and tracking system adopting Gaussian background model and compressive tracking algorithm was designed and implemented in this article. Considering the narrow load space, the limited power resource and the specialized application scenarios of the robot, a heterogeneous computing architecture combining advanced Reduced Instruction-Set Computer (RISC) machine and field programmable gate array was proposed on the basis of Zynq-7000 system on chip.Under the architecture, main parts of the vision algorithms were implemented as software programs running on the advanced RISC machine-Linux subsystem. And customized image accelerators were deployed on the field programmable gate array subsystem to speed up the timeconsuming processes of visual algorithms. Moreover, dynamic reconfiguration was used to switch accelerators online for reducing resource consumption and improving system adaptability. The word length of accelerators was optimized with simulated annealing algorithm to make a compromise between calculation accuracy and resource consumption. Experimental results confirmed the feasibility of the proposed architecture. The single board tracking system was able to provide an image processing rate of up to 89.2 frames per second at the resolution of 320 Â 240, which could meet future demands of our robot in biological monitoring and multi-target tracking.

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“…The underwater manipulator is an indispensable part of the underwater vehicle, performing the tasks such as biological samples collection, underwater salvage and so on [ 1 , 2 , 3 ]. However, due to the huge water pressure, uncertain operation object and lack of force perception, it will bring over operation or miss operation to limit the task efficiency [ 4 , 5 ].…”

Section: Introductionmentioning

confidence: 99%

Design, Analysis and Experiment of a Tactile Force Sensor for Underwater Dexterous Hand Intelligent Grasping

Zhang

Liu

Gao

et al. 2018

Sensors

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This paper proposes a novel underwater dexterous hand structure whose fingertip is equipped with underwater tactile force sensor (UTFS) array to realize the grasping sample location determination and force perception. The measurement structure, theoretical analysis, prototype development and experimental verification of the UTFS are purposefully studied in order to achieve accurate measurement under huge water pressure influence. The UTFS is designed as capsule shape type with differential pressure structure, and the external water pressure signal is separately transmitted to the silicon cup bottom which is considered to be an elastomer with four strain elements distribution through the upper and lower flexible contacts and the silicone oil filled in the upper and lower cavities of UTFS. The external tactile force information can be obtained by the vector superposition between the upper and lower of silicon cup bottom to counteract the water pressure influence. The analytical solution of deformation and stress of the bottom of the square silicon cup bottom is analyzed with the use of elasticity and shell theory, and compared with the Finite Element Analysis results, which provides theoretical support for the distribution design of four strain elements at the bottom of the silicon cup. At last, the UTFS zero drift experiment without force applying under different water depths, the output of the standard force applying under different water depth and the test of the standard force applying under conditions of different 0 ∘C–30 ∘C temperature with 0.1 m water depth are carried out to verify the performance of the sensor. The experiments show that the UTFS has a high linearity and sensitivity, and which has a regular zero drift and temperature drift which can be eliminated by calibration algorithm.

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Design and characteristic evaluation of a novel amphibious spherical robot

Cited by 22 publications

References 26 publications

A Novel Step Optimal Path Planning Algorithm for the Spherical Mobile Robot Based on Fuzzy Control

A Novel Step Optimal Path Planning Algorithm for the Spherical Mobile Robot Based on Fuzzy Control

A system on chip-based real-time tracking system for amphibious spherical robots

Design, Analysis and Experiment of a Tactile Force Sensor for Underwater Dexterous Hand Intelligent Grasping

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