Design of a compliance assisted quadrupedal amphibious robot

Vogel, Andrew; Kaipa, Krishnanand N.; Krummel, Gregory; Bruck, Hugh A.; Gupta, Satyandra K.

doi:10.1109/icra.2014.6907189

Cited by 13 publications

(7 citation statements)

References 15 publications

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“…Resorting to the bioinspired approach presented in this work can enhance their locomotion agility and increase their range of operations by the simple integration of compliant components in the legs and careful regulation of their underwater weight on the basis of U-SLIP simulations together with the implementation of the pushing control strategy hereby described. In addition, amphibious robots, which already integrate some form of compliancy in their paddle-like limbs (57,58), may implement and benefit from the underwater hopping strategy of SILVER2 through the integration of a subsystem that regulates their underwater weight to make them sink and the implementation of a pushing control strategy.…”

Section: Discussionmentioning

confidence: 99%

“…This approach stimulated the use of compliant elements in the development of robotic hardware (52) and the exploitation of the natural dynamics of the system in control (53) and led to the development of very agile machines capable of easily negotiating irregular terrains and reach unprecedented performance (54)(55)(56). In particular, the ability of transitioning from terrestrial to underwater environment was demonstrated by AQUA (57) and RoboTerp (58), which were able to switch from different terrestrial gaits on the shore to swimming through a phase of legged locomotion in very shallow water by resorting to compliant paddle-like limbs.…”

Section: Introductionmentioning

confidence: 99%

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Bioinspired underwater legged robot for seabed exploration with low environmental disturbance

et al. 2020

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Robots have the potential to assist and complement humans in the study and exploration of extreme and hostile environments. For example, valuable scientific data have been collected with the aid of propeller-driven autonomous and remotely operated vehicles in underwater operations. However, because of their nature as swimmers, such robots are limited when closer interaction with the environment is required. Here, we report a bioinspired underwater legged robot, called SILVER2, that implements locomotion modalities inspired by benthic animals (organisms that harness the interaction with the seabed to move; for example, octopi and crabs). Our robot can traverse irregular terrains, interact delicately with the environment, approach targets safely and precisely, and hold position passively and silently. The capabilities of our robot were validated through a series of field missions in real sea conditions in a depth range between 0.5 and 12 meters.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Bioinspired underwater legged robot for seabed exploration with low environmental disturbance

et al. 2020

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“…The main idea of Roboterp is on the lower part of leg structure, passive complaints have appended the acts as a valve for thrust generation. Four legs' rhythmic oscillations create a net forward thrust with directed control by valves [37]. Luo et al [44] proposed the QAR applying a five-bar mechanism (one flipper and three links) for the locomotion on land and water.…”

Section: ) Biped Amphibious Locomotionmentioning

confidence: 99%

“…Locomotion Physical Robot wheelleg four wheelleg [77] wheelfin dual fin wheels [14] omnipaddle four wheel paddle [78] equad four epaddle [37] finned two fin legs [46] leg tail leg paddle [79] locomotion. The dual swing legs are pair of flexible flipper legs like a caudal flipper foot used by the frog for swimming in water.…”

Section: Typementioning

confidence: 99%

Locomotion Strategies for Amphibious Robots-A Review

et al. 2021

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In the past two decades, unmanned amphibious robots have proven the most promising and efficient systems ranging from scientific, military, and commercial applications. The applications like monitoring, surveillance, reconnaissance, and military combat operations require platforms to maneuver on challenging, complex, rugged terrains and diverse environments. The recent technological advancements and development in aquatic robotics and mobile robotics have facilitated a more agile, robust, and efficient amphibious robots maneuvering in multiple environments and various terrain profiles. Amphibious robot locomotion inspired by nature, such as amphibians, offers augmented flexibility, improved adaptability, and higher mobility over terrestrial, aquatic, and aerial mediums. In this review, amphibious robots' locomotion mechanism designed and developed previously are consolidated, systematically The review also analyzes the literature on amphibious robot highlighting the limitations, open research areas, recent key development in this research field. Further development and contributions to amphibious robot locomotion, actuation, and control can be utilized to perform specific missions in sophisticated environments, where tasks are unsafe or hardly feasible for the divers or traditional aquatic and terrestrial robots.

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“…A design combining a circular 1-DOF leg and flat flipper [11], and a similar actuator comprising a stiff fan-shaped leg and a flipper with manually variable stiffness [12] have demonstrated locomotion on terrestrial and aquatic environments. A design comprising a stiff leg with a grate-like morphology, covered by a compliant flap that transforms the leg into a paddle and passively optimizes drag forces during swimming, allowed the RoboTerp quadruped to transition between walking on land and swimming on the water surface [13]. A flat paddle 1-DOF mechanism with a passive elastic hinge enabled underwater walking and swimming for the PEAR hexapod [14].…”

Section: Introductionmentioning

confidence: 99%

Soft Fluidic Actuator for Locomotion in Multi-Phase Environments

Gkliva

Kruusmaa

2022

IEEE Robot. Autom. Lett.

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This letter presents the design, development, and experimental assessment of a soft fluidic actuator that can enable locomotion in a variety of aquatic and terrestrial environments. Most actuation strategies for amphibious locomotion rely on rigid, fast moving components to generate thrust and tractive forces. Our prototype, comprising soft materials, and relying on simple motion planning and control strategies, demonstrates two gaits, that we employ for locomotion in two vastly different scenarios, underwater swimming and moving on granular terrain with varying levels of water content. By adjusting its internal pressure, the actuator dynamically varies its stiffness and shape, and transitions between wheel and soft paddle form. Experimental results of locomotion in controlled laboratory conditions serve as proof-of-concept for the proposed actuator's efficacy. Using two different motion patterns and control schemes, we show that this prototype achieves both thrust and tractive forces.

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Design of a compliance assisted quadrupedal amphibious robot

Cited by 13 publications

References 15 publications

Bioinspired underwater legged robot for seabed exploration with low environmental disturbance

Bioinspired underwater legged robot for seabed exploration with low environmental disturbance

Locomotion Strategies for Amphibious Robots-A Review

Soft Fluidic Actuator for Locomotion in Multi-Phase Environments

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