Mechanism Design and Gait Experiment of an Amphibian Robotic Turtle,Advanced Robotics |
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Mechanism Design and Gait Experiment of an Amphibian Robotic Turtle,Advanced Robotics
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In this paper we describe the design of a new bio-inspired amphibian robot with high environmental adaptability. The robot, called MiniTurtle-I, can transform terrestrial and aquatic locomotion configurations through a new variable topology mechanism (Leg-Flipper). Based on the modular design philosophy, four rotatory joint modules (Joints I–IV) constitute a Leg-Flipper module. Variable topology structure transformation of Leg-Flipper by actuation redundancy enables the robot to achieve a variety of locomotion. Our motivation is to provide another solution to achieve amphibious movement both easily and efficiently. A prototype of MiniTurtle-I is built to exam the configuration transformations. Terrestrial, aquatic and semiaquatic gait experiments are performed to verify the locomotion functions of the MiniTurtle-I.
中文翻译：
在本文中，我们描述了一种具有高环境适应性的新型仿生两栖机器人的设计。这款名为 MiniTurtle-I 的机器人可以通过一种新的可变拓扑机制（Leg-Flipper）来改变陆地和水上运动的配置。基于模块化设计理念，四个旋转关节模块（Joints I-IV）构成了一个 Leg-Flipper 模块。Leg-Flipper通过驱动冗余的可变拓扑结构改造使机器人能够实现多种运动。我们的动机是提供另一种解决方案，以轻松高效地实现两栖运动。MiniTurtle-I 的原型用于检查配置转换。进行陆地、水生和半水生步态实验以验证 MiniTurtle-I 的运动功能。 |
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