A Novel Design of an Aquatic Walking Robot Having Webbed Feet

作     者：Saad Kashem Hutomo Sufyan 

作者机构：Swinburne University of TechnologySarawak CampusJalan Simpang Tiga 93350KuchingSarawakMalaysia 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2017年第14卷第5期

页      面：576-588页

核心收录：

学科分类：1305[艺术学-设计学（可授艺术学、工学学位）] 13[艺术学] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0701[理学-数学] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

主　　题：Amphibious robot webbed feet duck feet robot locomotion swim walk climb propulsion system. 

摘      要：Inspired by the movement of duck that is able to move on land and water utilizing its webbed feet, a novel design of an amphibious robot has been presented in this paper. In contrary, the orthodox design of amphibious robot utilizes the tracks or wheels on land and switches to the propeller to move in water. The proposed design employs same propulsion system as webbed feet to move on land and water. After studying the movement of the duck underwater, a conclusion has been drawn that it is swimming in the water by moving its webbed feet back and forth to generate force to push its body forward. Recreating this phenomenon of duck movement, hybrid robot locomotion has been designed and developed which is able to walk, swim and climb steps using the same propulsion system. Moreover, webbed feet would be able to walk efficiently on muddy, icy or sandy terrain due to uneven distribution of robot weight on the feet. To be able to justify the feasibility of the design, simulations are being carried out using SimulationXpress of the SOLIDWORKS software.