The amphibious robot is intended for mobile application development. Micromachines free fulltext collaboration and task. Highly maneuverable autonomous underwater vehicle auv or remotely operated vehicle rov that can move from land to sea and back with ease. Swimming and crawling with an amphibious snake robot. According to our previous researches, robots have no communication or control stability module. Part ii hardware, control implementation and simulation richard harkins, jason ward and ravi vaidyanathan autonomous robotics and systems lab departments of physics and systems engineering naval postgraduate school, monterey, california 93943 email. It introduces the development process of each type of amphibious robot and puts forward the defects of each type of amphibious robot. Autonomous stimulus control prosthetic, march 28, 2016. Mini amphibious vehiclerobot with wireless control system core. Ideal for surf zone, amphibious beach missions and polar ice missions. Roaming complexity in terrains and unexpected environments pose significant difficulties in robotic exploration of an area. Development of an amphibious robot for visual inspection of apr1400 npp irwst strainer assembly you hyun jang and jong seog kim korea hydro nuclear power central research institute 12gil yuseongdaero yuseonggu, daejeon 305343, korea corresponding author. The chigon can realize crawling locomotion on land and swimming locomotion under water, respectively.
A conventional rugged amphibious robotic ball 10 is shown in fig. The project seeks to design, build and test an amphibious robot to carry various. Mini amphibious vehiclerobot with wireless control system. A waterresistant amphibious prototype design, based on the biologicallyinspired whegs platform, has been completed. In this paper, we describe a study on the evolution of morphological characteristics and controller parameters for an amphibious robot with. The amphibious robot comprises a flying subsystem, a wallclimbing subsystem, a connecting mechanism and an airborne control system, wherein the flying subsystem and the wallclimbing subsystem are fixed by the connecting mechanism at an angle of 090 degrees, the. Oct 26, 2016 clearpath robotics partners with argo xtr to launch warthog unmanned ground vehicle. Japanese company hibot, specialized in robots for extreme environments, will unveil the latest version of its acmr5h snake robot at the international robot.
Although the traditional amphibious robot has the ability of multispace motion, it has the disadvantage of low power utilization and no. In this paper, we explored the locomotion performance of a amphibious robot with flexible flipper legs on various terrains and underwater through dynamical. Autonomous amphibious robot aar preliminary testing. Trajectory tracking control of an amphibian robot with operational. May 09, 2014 building an amphibious robot with gpr thayer school of engineering at dartmouth.
Dartmouth engineering students build an amphibious robot designed to measure ice thickness using ground. The first terrestrial animals used sprawling locomotion, a type of. Evolution of an amphibious robot with passive joints jared m. This article surveys the use of natural language in robotics from a robotics point of view.
As mentioned above, there is also an amphibious mobile robot with a spherical rotary paddle mechanism, as shown in. Since 2008, ubtech has successfully developed consumer humanoid robots, robots for businesss use and jimu robot after breakthroughs made in digital servos, the core part of humanoid robots. A ball robot formed from a spherical shell includes a main axle, first and second pendulums pivotally coupled to the main axle, and a drive mechanism for the first and the second pendulums. An amphibious and mobile robotic inspection system is described that has been developed to test welds located inside a floating production storage oil tank fpso tank. Modeling and experimental evaluation of an improved amphibious robot with compact structure. This research aims to design and develop an amphibious robot, which incorporates a webbed duck feet design to walk on different. Pdf motion characteristic evaluation of an amphibious. Drive and stabilizaton system for amphibious robotic ball. The result shows that the actuator can deform much easier with a bigger width.
This invention relates generally to methods and devices for robot devices, and more specifically, to amphibious robot devices. A roller skatingwalking modebased amphibious robot article in robotics and computerintegrated manufacturing 44. Design of an autonomous amphibious robot faculty naval. Pdf design and implementation of a quadruped amphibious. To use human language, robots must map words to aspects of the physical world, mediated by the robot s sensors and actuators. For example, if the pipeline carries crude oil the robot arms are replaced with selfbalanced propeller, the central body of the robot remains same for both.
Traditionally, mobile robot design is based on wheels, tracks or legs with their respective advantages and disadvantages. The body, originally adapted for swimming, evolved to benefit from limbs that enhanced its locomotion capabilities on submerged and dry ground. Clearpath robotics releases warthog ugv, an amphibious. Modeling and experiments of a soft robotic gripper in. A series of crawling experiments on a common floor were performed with the improved robot prototype, which was also done using the previous robot. The robot has been designed to operate both in air and while submerged in oil. This research aims to design and develop an amphibious robot, which incorporates a webbed duck feet design to walk on.
Design, modeling and control of a novel amphibious robot with. The amphibious spherical robot consists of a circular acrylic plate, a sealed hemispheroid, two mechanical arms and four drive units. A milestone in vertebrate evolution, the transition from water to land, owes its success to the development of a sprawling body plan that enabled an amphibious lifestyle. This paper proposes an embedded architecture formation strategy for a group of turtleinspired amphibious robots to maintain a long distanceparameterized path based on dynamic. The line navigation amphibious power circuit comprehensive maintenance robot comprises a flight subsystem, an online subsystem and an operation subsystem, wherein when the robot is in a flight operation mode, the flight subsystem is used for executing. Design and implementation of a quadruped amphibious robot.
Mckinley department of computer science and engineering michigan state university east lansing, michigan, usa email. This research is intended to realize an amphibious vehicle robot capable of moving on ground and on water surface in miniature size for prototyping purpose. The robot would need to communicate in an ieee 802. This video shows preliminary land and water testing of the autonomous amphibious robot aar currently under development at the mechatronic and robotic systems laboratory, university of ontario. Icerescue robot for towing a rope and life buoy to a victim who has fallen through thin ice. In a broader sense, robots have to face two common tasks during exploration, namely, walking on the drylands and swimming through the water. Design, modeling and control of a novel amphibious robot. Author links open overlay panel shuxiang guo a b c yanlin he a b liwei shi a b.
The propulsion generated through this feet system has been observed to be better and more controlled then the initial design and prototype of designed duck feet robot reported in 1. Structure improvement and stability for an amphibious. This paper aims to improve the collaboration ability and stability of amphibious spherical robots asrs. Part i mechanical design for multimode mobility alexander s.
This article presented the first developments in a project that aims at developing amphibot i, an amphibious snakelike robot capable of swimming and lateral undulatory. The invention discloses an amphibious robot capable of flying and climbing wall and a control method of the amphibious robot. Utilizing a soft gripper that was built by mounting four actuators to a threedimensionalprinted rigid support, we found that the prototype can grip objects of different sizes, shapes, and material stiffness in amphibious environments. Devices for navigating in a fluid medium having a solid boundary include a vehicle body and a fin attached to the vehicle body. Gaits of interest included walking, swimming, and smoothly transitioning between the two. Design and performance evaluation of an amphibious spherical. Design, simulation, fabrication and testing of bioinspired amphibious robot with multiple modes of mobility, journal of robotics and mechatronics, vol. For our amphibious robot, infrared sensors providing obstacle information, pressure sensors providing water depth information and liquidlevel sensors providing presenceabsence information in relation to water can be used to modulate the performance of the cpgs in overcoming the external impact on the dynamic motion. The year 2016 has seen ubtech rising to the unicorn ranking list in its industry with 1 billion us dollars. Amphibious robot for underwater obstacle clearance citeseerx. This research aims to design and develop an amphibious robot, which incorporates a webbed duck feet design to walk on different terrains, swim in.
This thesis presents the design and realization of two generations of robot elements that can be assembled together to construct amphibious mobile robots. Prototype of the improved 3dprinted amphibious spherical robot. Author links open overlay panel you hyun jang jong seog kim. Building an amphibious robot with gpr thayer school of engineering at dartmouth. World congress on i ntelligent control and auto mation. The goal of this thesis was to develop an amphibious legged quadrupedal robot and associated gaits. Accurate and timely information can be crucial to success in military operations, but in some circumstances, information can be gained only at considerable risk to personnel. Amphibious one degree of freedom robotic legs, by bir bikram dey, sandeep manjanna, and gregory dudek from the centre for intelligent machines at mcgill university, was presented. The invention relates to a line navigation amphibious power circuit comprehensive maintenance robot and a circuit maintenance method thereof.
Outdoor navigation with a spherical amphibious robot ieee xplore. In this paper, we explored the locomotion performance of a amphibious robot with flexible flipper legs on various terrains and underwater through dynamical simulation. Dynamic modelling of a cpgcontrolled amphibious biomimetic. In this paper, a salamanderlike amphibious robot prototype named chigon is proposed. This paper carried on the classifications of amphibious robots at home and abroad presently, which mainly includes the legged amphibious robot, snakelike amphibious robot, spherical amphibious robot and wheelpropeller integrated amphibious robot. Jul 17, 2008 the ten deadliest snakes in the world with steve irwin real wild documentary duration. The presented model and design of the amphibious robot has been inspired by the working principle of duck feet.
Each of drive unit includes a waterjet propeller and two servo motors. Cn102412530a line navigation amphibious power circuit. In this paper, we describe a study on the evolution of morphological characteristics and controller parameters for an amphibious robot with passive arm joints. Evolution of an amphibious robot with passive joints. Characteristic analysis in water for an amphibious.
Amphibious robot with transformable flipperleg composite propulsion mechanisms can adapt various terrestrial and water environments. Clearpath robotics, a provider of mobile robotic platforms for research and development, has released warthog a large, amphibious, allterrain mobile robot designed for application development. Pdf the automation of robotics has gone leaps and bounds with the. Pdf the aquatic environment is almost ideal for autonomous robot development.
Vision locating method based rgbd camera for amphibious. To use human language, robots must map words to aspects of the physical world, mediated by the robots sensors and actuators. Founded in 2012, ubtech is a global leading ai and humanoid robotic company. The robot which is designed in this paper is an amphibious robot i. The amphibious robot vehicle can be operated on ground and onwater surface.
Through extensive fieldtesting, mechanisms have been isolated to improve the implementation of the whegs concept and make it more suited for amphibious operation. Combining the robot s crawling mechanism with related simulation results, an optimized prototype of the 3dprinted amphibious spherical robot was constructed. We demonstrate that it can operate on a wide range of foreign horizontal and vertical surfaces including dry, wet, slippery, smooth, and semismooth ones on ground and also. To improve the performance and working efficiency of our amphibious spherical robot, the leaderfollower method, which could realize the coordinated movement and formation keeping for three or more robots, was adopted in this paper. Based on the switchable adhesion actuator, we design and fabricate a novel loadcarrying amphibious climbing soft robot acsr by combining with a soft bending actuator. Clearpath robotics releases warthog ugv, an amphibious robot for app dev clearpath robotics has launched its warthog unmanned ground vehicle in cooperation with argo xtr. To increase the autonomous ability of amphibious spherical robots in underwater environment, an underwater vision locating system was designed. Pdf swimming and crawling with an amphibious snake robot. This research aims to design and develop an amphibious robot, which incorporates a webbed duck feet design to walk on different terrains, swim in the water, and tackle. This study designed a new torque gyro control stability and an artificial electronic communication module devoted to allowing the robot to both move on land and.
The amphibious robotvehicle can be operated on ground and onwater. Initial development of a novel amphibious robot with. Nov 12, 2015 this video shows preliminary land and water testing of the autonomous amphibious robot aar currently under development at the mechatronic and robotic systems laboratory, university of ontario. The amphibious robot, which has favourable adaptability to the practical environment and good stability to move, is applied to a large number of areas such as rescue. Design and analysis of an amphibian inspection robot. Study on a multirobot cooperative wireless communication. Design of a prototype autonomous amphibious whegs robot.
The designed robot is compact, easy to use, and also has the abilities to work autonomously. The robot is divided into an upper hemisphere and a lower hemisphere. The fin is configured to oscillate relative to the body such that interaction between the fin and the fluid medium produces propulsive forces that propel the vehicle body in a desired direction in the fluid medium. Locomotion performance of the amphibious robot on various. Compliance was employed in the robot s legs to achieve swimming. Design, simulation, fabrication and testing of bioinspired amphibious robot with multiple modes of mobility. This research aims to design and develop an amphibious robot, which incorporates a webbed duck feet design to walk on different terrains, swim in the water, and tackle obstructions on its way. These elements, designed to be individually waterproof and having their own battery, motor controller, and motor, have been used to actually construct a snake, a box. Switchable adhesion actuator for amphibious climbing soft. For specific intention, the amphibious vehicle can move under water. Us6974356b2 amphibious robot devices and related methods. A salamanderlike amphibious robot named salamander robot mimics the terrestrial to aquatic locomotion transition via a combination of body undulation and limb crawling.
The amphibious robot consists of a sealed transparent upper hemispheroid, two transparent quarter spherical shells that can be opened, a plastic plate for carrying the microrobots, and four actuating units, which are fastened to a plastic circular plate, as shown in fig. Design of compliance assisted gaits for a quadrupedal. Whegs ii surmounts a 15 cm obstacle with the help of its body flexion joint. Design of a prototype autonomous amphibious whegstm robot for surfzone operations jason l. Modeling and experimental evaluation of an improved. Design, simulation, fabrication and testing of bio. Underwater motion characteristics evaluation of multi. Design of an autonomous amphibious robot for surf zone operation. This paper proposes an embedded architecture formation strategy for a group of turtleinspired amphibious robots to maintain a long distanceparameterized path based on dynamic visual servoing. Design of an autonomous amphibious robot for surf zone. Cn103192987a amphibious robot capable of flying and. The communication and stability evaluation of amphibious. Amphibious robot for weld inspection inside floating. Design, modeling and control of a novel amphibious robot with dualswinglegs propulsion mechanism yang yi, member, ieee, zhou geng, zhang jianqing, cheng siyuan, fu mengyin abstractthis paper describes a novel amphibious robot, which adopts a dualswinglegs propulsion mechanism, proposing a new locomotion mode.
Information exchanges and cooperative movements of multi robots have become a hot topic in robotics. Aug 02, 2016 amphibious robots basics the white material you see for the chassis of the bot is acrylic sheet which is easily available in any glass window glass shop and is very good material to build. Aqua,an amphibious robot that swims via the motion of its legs rather than using thrusters and control surfaces for propulsion,can walk along the shore,swim along the surface in open water,or walk on the bottom of the ocean. Aqua, an amphibious robot that swims via the motion of its legs rather than using thrusters and control. The chigon can realize crawling locomotion on land and.
Amphibious spherical robots asrs use an electric field to communicate and collaborate effectively in a turbid water of confined spaces where other mode communication modalities failed. Us9428019b1 drive and stabilizaton system for amphibious. Vision locating method based rgbd camera for amphibious spherical robots abstract location system is crucial to many intelligent robots, especially for underwater robots. Pdf switchable adhesion actuator for amphibious climbing.
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