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A Novel Design of an Aquatic Walking Robot Having webbed feet

International Journal of Automation and computing 2017年第5期14卷 576-588页

作者： Saad Kashem Hutomo Sufyan Swinburne University of Technology Sarawak CampusJalan Simpang Tiga 93350KuchingSarawakMalaysia

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.

关键词： Amphibious robot webbed feet duck feet robot locomotion swim walk climb propulsion system.

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