The DOI matches its Crossref record; 3 of the 3 references it cites were found in a registry or an index.
On a Bio-inspired Amphibious Robot Capable of Multimodal Motion
Abstract
This paper addresses the system design and locomotion control for a versatile amphibious robot, AmphiRobot-II, inspired by various amphibian principles in the animal kingdom. In terms of the propulsion features of existing amphibians, a novel hybrid propulsive mechanism coupled with wheel-propeller-fin movements is proposed that integrates fish- or dolphin-like swimming and wheel-based crawling. The robot is able not only to implement flexible wheel-based movements on land, but also to perform steady and efficient fish- or dolphin-like swimming under water and can further switch between these two patterns via a specialized swivel device. To achieve multimodal motions, a body deformation steering approach is proposed for the turning locomotion on land with minimum turning radius obtained accordingly. A central pattern generator inspired underwater locomotion control is also implemented and tested on the physical robot. Based on the aforementioned design, the AmphiRobot-II prototype has been built and has successfully demonstrated to confirm the effectiveness of the hybrid propulsive scheme and the amphibious control approaches.
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Cites
A fast and elitist multiobjective genetic algorithm: NSGA-II
Deb, K., Pratap, A., Agarwal, S., & Meyarivan, T. (2002) · IEEE Transactions on Evolutionary Computation · doi:10.1109/4235.996017 · Cited by 50,053
Completely Derandomized Self-Adaptation in Evolution Strategies
Hansen, N., & Ostermeier, A. (2001) · Evolutionary Computation · doi:10.1162/106365601750190398 · Cited by 4,397
From Swimming to Walking with a Salamander Robot Driven by a Spinal Cord Model
Ijspeert, A. J., Crespi, A., Ryczko, D., & Cabelguen, J.-M. (2007) · Science · doi:10.1126/science.1138353 · Cited by 1,214
Cited by
Design and Locomotion Control of a Biomimetic Underwater Vehicle With Fin Propulsion
Zhou, C., & Low, K. H. (2012) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2011.2175004 · Cited by 287
Metadata
- Authors
- Yu, J., Ding, R., Yang, Q., Tan, M., Wang, W., & Zhang, J.
- Venue
- IEEE/ASME Transactions on Mechatronics
- Published
- 2012-10
- Volume
- 17
- Issue
- 5
- Pages
- 847-856
- ISSN
- 1083-4435 (ISSN-L)
- 1941-014X
- OpenAlex
- W2030532559
- Cited by
- 183
- References
- 3
- FWCI
- 5.29
- Type
- journal article
- Language
- en
- Open access
- closed
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