Locomotion Performance of the Amphibious Robot on Various Terrains and Underwater with Flexible Flipper Legs
Locomotion Performance of the Amphibious Robot on Various Terrains and Underwater with Flexible Flipper Legs作者机构：Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China Hefei 230026 China
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2016年第13卷第4期
页 面：525-536页
核心收录：
学科分类：080202[工学-机械电子工程] 082304[工学-载运工具运用工程] 08[工学] 0804[工学-仪器科学与技术] 080204[工学-车辆工程] 0802[工学-机械工程] 0823[工学-交通运输工程]
基 金：the National Natural Science Foundation of China (51375468)
主 题：amphibious robots flexible flipper legs various terrains locomotion performance
摘 要：Amphibious robots are attracting more and more attentions from researchers worldwide tbr their broad appllcanons m resource exploration, disaster rescue, and reconnaissance. Amphibious robot with transformable flipper-leg composite propul- sion mechanisms can adapt various terrestrial and water environments. In this paper, we explored the locomotion performance of a amphibious robot with flexible flipper legs on various terrains and underwater through dynamical simulation. The influence of the stiffness of the flipper legs on the locomotion performance in various environments was investigated comprehensively. The results indicate that the locomotion with flexible flipper legs is very stable, and the stiffness of the flipper legs has a great impact on the locomotion performance. The verification experiments demonstrate the accuracy of the simulation results. The study facilitates the design of the amphibious robot and indicates that the passively transformable flipper-leg mechanisms also enable amphibious robot to conquer various complex terrestrial environments.
维普期刊数据库