Optimal design and implementation of an amphibious bionic legged robot

Wang, Gang; Liu, Kaixin; Ma, Xinmeng; Chen, Xi; Hu, Shihao; Tang, Qinyun; Liu, Zhaojin; Ding, Mingxuan; Han, Songjie

doi:10.1016/j.oceaneng.2023.113823

Cited by 14 publications

(4 citation statements)

References 34 publications

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“…In previous studies, we examined the crab-like robot's underwater bounding gait [18], swimming paddle design and flapping trajectory [39], and the effects of leg mechanism kinematic modeling and swimming paddle structural parameters on hydrodynamics [40], and demonstrated that the crab-like robot has good mobility capabilities in an amphibious environment. This paper presents a relevant study on the impact of bionic shell attitude change on lift and drag, which is utilized to optimize the underwater motion attitude of the crab-like robot, thereby establishing a research foundation for the promotion and autonomous motion control of crab-like robots.…”

Section: Introductionmentioning

confidence: 99%

Effect of Bionic Crab Shell Attitude Parameters on Lift and Drag in a Flow Field

Hu,

Chen,

et al. 2024

Biomimetics

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Underwater bionic-legged robots encounter significant challenges in attitude, velocity, and positional control due to lift and drag in water current environments, making it difficult to balance operational efficiency with motion stability. This study delves into the hydrodynamic properties of a bionic crab robot’s shell, drawing inspiration from the sea crab’s motion postures. It further refines the robot’s underwater locomotion strategy based on these insights. Initially, the research involved collecting attitude data from crabs during underwater movement through biological observation. Subsequently, hydrodynamic simulations and experimental validations of the bionic shell were conducted, examining the impact of attitude parameters on hydrodynamic performance. The findings reveal that the transverse angle predominantly influences lift and drag. Experiments in a test pool with a crab-like robot, altering transverse angles, demonstrated that increased transverse angles enhance the robot’s underwater walking efficiency, stability, and overall performance.

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Section: Introductionmentioning

confidence: 99%

Effect of Bionic Crab Shell Attitude Parameters on Lift and Drag in a Flow Field

Hu,

Chen,

et al. 2024

Biomimetics

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“…However, the development of such complex robotic systems demands extensive testing and optimization to enable their seamless incorporation into real-world circumstances [2] [3]. The numerical simulation of motion testing is at the forefront of this effort, a sophisticated approach that uses computational algorithms to simulate the locomotion behaviours of bionic amphibious quadruped robots in virtual environments [4] [5].…”

Section: Introductionmentioning

confidence: 99%

Numerical Simulation of Motion Test of Bionic Amphibious Quadruped Robot

Jie Zhao

2024

jes

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Bionic amphibious quadruped robots are a huge leap in robotics, with the ability to navigate various terrains with agility and efficiency. In this study, the researchers utilized numerical simulations of motion tests to assess the locomotion skills of these extraordinary robotic systems. They learned a lot about their functioning and problems by rigorously analyzing performance parameters across various terrains and conditions, such as terrain adaptability, traversal speed, energy efficiency, stability, and manoeuvrability. The results they obtained highlighted the importance of adaptive control algorithms and mechanical designs in maximizing traversal speed and energy economy, especially while negotiating difficult terrains. In addition, the study demonstrated the interdisciplinary character of research in bionic amphibious quadruped robots, drawing on insights from biomechanics, control theory, robotics, and computational modelling. By combining previous research and utilizing computational simulation approaches, they opened the road for the creation of versatile and durable robotic systems capable of navigating difficult terrains and surroundings with precision and efficiency. Future research efforts could focus on improving design and control, investigating novel propulsion mechanisms, adaptive locomotion tactics, and biomimetic control algorithms to improve performance and adaptability. Addressing the challenges identified in the research and seizing opportunities for innovation will drive the development of robotic systems that push the limits of locomotion capabilities and open up new possibilities for applications in exploration, search and rescue, environmental monitoring, and beyond.

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“…Robots can walk straight, walk laterally, turn in place on land, swim, and jump underwater. Previous studies investigated the design principles and gait experimental results of the undersea propulsion mode of a crab-like robot called "crab bounding gait" [22], introducing the design of the swimming paddle of the imitation crablike robot with the swimming prize swimming simulation process [23] as well as swimming paddle structural parameters on hydrodynamics [24]. This research initiates by presenting the design and dynamics modeling process of the parallel leg structure for a crab-like robot, wherein the parallel leg structure outperformed the series leg structure in terms of load capacity.…”

Section: Introductionmentioning

confidence: 99%

Leg Mechanism Design and Motion Performance Analysis for an Amphibious Crab-like Robot

Hu,

Ma,

Chen

et al. 2023

JMSE

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Bionic-legged robots draw inspiration from animal locomotion methods and structures, demonstrating the potential to traverse irregular and unstructured environments. The ability of Portunus trituberculatus (Portunus) to run flexibly and quickly in amphibious environments inspires the design of systems and locomotion methods for amphibious robots. This research describes an amphibious crab-like robot based on Portunus and designs a parallel leg mechanism for the robot based on biological observations. The research creates the group and sequential gait commonly used in multiped robots combined with the form of the robot’s leg mechanism arrangement. This research designed the parallel leg mechanism and modeled its dynamics. Utilizing the outcomes of the dynamics modeling, we calculate the force and torque exerted on each joint of the leg mechanism during group gait and sequential gait when the robot is moving with a load. This analysis aims to assess the performance of the robot’s motion. Finally, a series of performance evaluation experiments are conducted on land and underwater, which show that the amphibious crab-like robot has good walking performance. The crab-like robot can perform forward, backward, left, and right walking well using group and sequential gaits. Simultaneously, the crab-like robot showcases faster movement in group gaits and a more substantial load capacity in sequential gaits.

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Optimal design and implementation of an amphibious bionic legged robot

Cited by 14 publications

References 34 publications

Effect of Bionic Crab Shell Attitude Parameters on Lift and Drag in a Flow Field

Effect of Bionic Crab Shell Attitude Parameters on Lift and Drag in a Flow Field

Numerical Simulation of Motion Test of Bionic Amphibious Quadruped Robot

Leg Mechanism Design and Motion Performance Analysis for an Amphibious Crab-like Robot

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