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An Efficient Optimization Design Framework for Low-Resistance Shape of Bionic amphibious robot

China Ocean Engineering 2024年第1期38卷 117-128页

作者： ZHANG Dai-yu ZHANG Man-yu WANG Zhi-dong ZHENG Wen-sheng LING Hong-jie HU Jun-ming School of Naval Architecture and Ocean Engineering Jiangsu University of Science and TechnologyZhenjiang 212003China

To realize the low-resistance shape optimization design of amphibious robots,an efficient optimization design framework is proposed to improve the geometric deformation flexibility and optimization *** the proposed framework,the free-form deformation parametric model of the flat slender body is established and an analytical calculation method for the height constraints is *** method is introduced to carry out the high-precision resistance calculation and a constrained Kriging-based optimization method is built to improve the optimization efficiency by circularly infilling the new sample points which satisfying the ***,the shape of an amphibious robot example is optimized to get the low-resistance shape and the results demonstrate that the presented optimization design framework has the advantages of simplicity,flexibility and high efficiency.

关键词： amphibious robot optimization method free-form deformation CFD-based hydrodynamic calculation

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Jellyfish-inspired multimodular bionic amphibious robot

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JOURNAL OF FIELD robotICS 2025年第1期42卷 373-390页

作者： Ma, Pan Qu, Haibo Liu, Wenju Wang, Xiaolei Wang, Haoqian Hu, Buqin Guo, Sheng Beijing Jiaotong Univ Robot Inst Sch Mech Elect & Control Engn Beijing 100044 Peoples R China China Acad Aerosp Aerodynam Beijing Peoples R China Beijing Jiaotong Univ Key Lab Vehicle Adv Mfg Measuring & Control Techno Minist Educ Beijing Peoples R China

To make the amphibious robot have a lot of functions while keeping the overall structure relatively simple, this paper proposes a multimodule bionic amphibious robot (MMBAR) inspired by the movement mode of jellyfish. The MMBAR consists of four modules, which are connected by snaps, and can be assembled quickly. The wing-leg structure suitable for swimming in the water is designed, which combines the legs and wings using a flexible hinge. Meanwhile, the integrated design principle is adopted to combine the wing-leg structure with the wheel structure to design a deformable wheel suitable for land movement. The overall structure of the MMBAR is simple, and the wing-legs can be deformed to perform a variety of functions, such as acting as a wheel for land movement, as a claw for grasping objects, and as a propulsion mechanism to power the MMBAR for swimming. Theoretical modeling and simulation analyses are conducted separately for the MMBAR on land and in water, which helps understand the movement characteristics of the MMBAR and to obtain more optimized movement parameters. In addition, we conducted experiments on the MMBAR, such as climbing slopes, climbing steps, walking on snow, swimming in water, grasping objects, and so forth, which confirm that the MMBAR possesses a strong ability to adapt to the environment. These research results add new content to the research of amphibious robots, which are expected to replace humans to fulfill more dangerous jobs.

关键词： amphibious robot biomimetic jellyfish-inspired multimodule

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A Bioinspired Paddle-Wheeled Leg amphibious robot With Environment-Adaptive Autonomously

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2025年第1期30卷 15-26页

作者： Zhang, He Zhu, Yue Yang, Jiahui Yang, Chen Zhao, Jie Harbin Inst Technol Sch Mechatron Engn Harbin 150001 Peoples R China Zhejiang Univ ZJU Hangzhou Global Sci & Technol Innovat Ctr Hangzhou 311215 Peoples R China

Enhancing the high-speed dynamic performance and adaptive capabilities of amphibious robots in complex and amphibious environments is of utmost importance. A bioinspired paddle-wheeled leg amphibious robot that is environment-adaptive autonomously has been proposed and developed to tackle such a challenge. The designed robot features a composite paddle-wheeled leg structure and a switching mechanism. This design significantly improves the robot's adaptability to diverse and challenging terrains while showcasing exceptional water propulsion performance. Meanwhile, an autonomous switching of water and land modes based on torque feedback is proposed to achieve autonomous identification of land and water. Finally, we introduce a Hopf oscillator-based central pattern generator control strategy to assist the robot in transitioning to a hexapod gait effectively and smoothly after steering. Experiments are conducted to assess the robot's locomotive capabilities on various terrains. These tests have also evaluated the robot's capability to switch autonomously between land and water modes. The findings confirm the design's exceptional performance and validate its innovative features.

关键词： Legged locomotion robots Switches amphibious robots Biomimetics Water Propulsion amphibious robot central pattern generator (CPG) paddle-wheel leg switching device

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A transformable wheel-spoke-paddle hybrid amphibious robot

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robotICA 2024年第3期42卷 701-727页

作者： Ge, Yikai Gao, Feng Chen, Weixing Shanghai Jiao Tong Univ Sch Mech Engn State Key Lab Mech Syst & Vibrat Shanghai 200240 Peoples R China Shanghai Jiao Tong Univ Inst Marine Equipment Res Ctr Marine Intelligent Equipment & Robot Shanghai Peoples R China

The intricate water-land intermingled nature of wild environments necessitates robots to exhibit multimodal cross-domain mobility capabilities. This paper introduces a novel wheel-spoke-paddle hybrid amphibious robot (WSP-bot) that can operate on flat and rough terrains, water surfaces, and water-land transitional zones. The proposed robot relies on a propulsion mechanism called transformable wheel-spoke-paddle (WSP), which combines the stability of wheeled robots with the obstacle-climbing capability of legged robots, while also providing additional aquatic mobility. The utilization of a crank-slider-based transformation mechanism enables seamless switching between multiple motion modes. An analysis of mode transition and ground motion in spoke mode was conducted, along with an investigation of its obstacle-crossing capability. Simulations were performed for mode transition, ground locomotion, and obstacle-crossing, as well as propulsion of a single WSP module on water. Based on the above work, a prototype robot was manufactured. Prototype tests, including mode transition and mobility tests on land and water surfaces under multimodal states, confirmed the effectiveness of the proposed WSP-bot.

关键词： amphibious robot mobile robot transformable mechanism multimodal motion

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Development of a novel amphibious robot with a reusable cycloidal propulsion module

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OCEAN ENGINEERING 2024年第Part1期312卷

作者： Xia, Dan Yan, Han Shi, Yunde Wu, Jinming Luo, Xiang Southeast Univ Sch Mech Engn Nanjing 211189 Peoples R China

This paper proposes a novel amphibious robot with reusable cycloidal propulsion module, and conducts simulation and experimental studies on its propulsion performance. Underwater, the robot adopts the collaboration of multiple cycloidal propellers to achieve moving and turning, providing good maneuverability;on land, the four blades of each cycloidal propeller are used as the blade wheel to drive the robot to move and turn, thus realizing the reuse of the same propulsion module in two environments. The experimental results show that the robot's underwater movement speed coefficient reaches a maximum of 0.275;by changing the direction of the propellers on both sides, the robot can realize in-situ turning, and the turning speed increases with the increase of the revolution speed of the propeller. The robot multiplexes the cycloid propellers into blade wheels on land, moves with a maximum speed coefficient of 0.207, and realizes the functions of mobile turning and in-situ turning, respectively, by means of the speed difference between the blade wheels on both sides. The findings confirm the feasibility of the cycloid propeller as a reusable propulsion module for amphibious robots, and the developed robot has good maneuverability, which is promising for application in the field of amphibious operations.

关键词： amphibious robot Cycloidal propeller Reuse module Maneuverability Moving and turning

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Design of a Wheel-Pulp Multiplexed amphibious robot for Offshore Floating Photovoltaic System Application

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IEEE SENSORS JOURNAL 2025年第4期25卷 6077-6086页

作者： Fu, Qiang Su, Huaxiang Han, Haoran Zhang, Songyuan Wang, Chunjie Cui, Lin Wu, Sheng Tianjin Univ Technol Sch Elect Engn & Automat Tianjin Key Lab New Energy Power Convers Transmiss Tianjin 300380 Peoples R China Haihe Lab Informat Technol Applicat Innovat Tianjin 300204 Peoples R China Tianjin Univ Technol Sch Elect Engn & Automat Tianjin 300380 Peoples R China Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Peoples R China Yangtze Delta Marine Technol Innovat Ctr Nantong 226100 Peoples R China Harbin Engn Univ Yantai Res Inst Grad Sch HEU Harbin 150001 Peoples R China

The maintenance of offshore floating photovoltaic (PV) system poses considerable challenges. This article proposes a novel amphibious robot with a wheel-and-leg hybrid design, which combines the advantages of wheeled and legged robots and allows for flexible operation on land and underwater. The robot structure was modeled using SolidWorks software, and the shape and size parameters of the waterproof shell were compared and analyzed using the Ansys fluid simulation software to determine a streamlined elliptical shell with small fluid resistance and its corresponding dimensions. The robot control system was composed of an Arduino Mega 2560 as the main controller, waterproof brushless motors, servo control board, attitude displacement sensor, and Bluetooth transparent module, with data transmission facilitated through communication protocols, such as serial ports and inter-integrated circuit (IIC). Experimental results demonstrated that the robot can stably operate in different land and underwater environments, confirming the accuracy of the fluid simulation conclusions and verifying the effectiveness of the proportion integration differentiation (PID) algorithm.

关键词： robots Fluids amphibious robots Sensors Wheels Propulsion Legged locomotion Shape Photovoltaic systems Turning amphibious robot modular design proportion integration differentiation (PID) control underwater propulsion wheel-pulp multiplexed

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Design and Mechanics of a Composite Wave-driven Soft robotic Fin for Biomimetic amphibious robot

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Journal of Bionic Engineering 2023年第3期20卷 934-952页

作者： Minghai Xia He Wang Qian Yin Jianzhong Shang Zirong Luo Qunwei Zhu College of Intelligence Science and Technology National University of Defense TechnologyChangsha410073China College of Energy and Power Engineering Changsha University of Science and TechnologyChangsha410076China

Bionic amphibious robots have important prospects in scientific, commercial, and military fields. Compared with traditional amphibious robots which use propellers/jets for aquatic medium and wheels/tracks for terrestrial medium, bionic propulsion method has great advantages in terms of manoeuvrability, efficiency, and reliability, because there is no need to switch between different propulsion systems. To explore the integrated driving technology of amphibious robot, a novel bio-inspired soft robotic fin for amphibious use is proposed in this paper. The bionic fin can swim underwater and walk on land by the same undulating motion. To balance the conflicting demands of flexibility underwater and rigidity on land, the undulating fin adopts a special combination of a membrane fin and a bending spring. A periodic longitudinal wave in horizontal direction has been found generating passively in dynamic analysis. To find the composite wave-driven mechanics, theoretical analysis is conducted based on the walking model and swimming model. A virtual prototype is built in ADAMS software to verify the walking mechanics. The simulation result reveals that the passive longitudinal wave is also periodical and the composite wave contributes to land walking. Finally, an amphibious robot prototype actuated by a pair of undulating fins has been developed. The experiments show that the robot can achieve multiple locomotion, including walking forward/backward, turning in place, swimming underwater, and crossing medium, thus giving evidence to the feasibility of the newly designed undulating fin for amphibious robot.

关键词： Undulating fin amphibious robot Composite wave driven Locomotion mechanism

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CPG-MPC controller for wheel-fin-flipper integrated amphibious robot

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INDUSTRIAL robot-THE INTERNATIONAL JOURNAL OF robotICS RESEARCH AND APPLICATION 2023年第6期50卷 900-916页

作者： Qiao, Yue Wei, Wang Li, Yunxiang Xu, Shengzui Wei, Lang Hao, Xu Xia, Re Wuhan Univ Hubei Key Lab Waterjet Theory & New Technol Wuhan Peoples R China Wuhan Univ Sch Power & Mech Engn Wuhan Peoples R China Key Lab Hydraul Machinery Transients Wuhan Peoples R China

PurposeThe purpose of this paper is to introduce a motion control method for WFF-Amphirobot, which can effectively realize the flexible motion of the robot on land, underwater and in the transition zone between land and ***/methodology/approachBased on the dynamics model, the authors selected the appropriate state variables to construct the state space model of the robot and estimated the feedback state of the robot through the maximum a posteriori probability estimation. The nonlinear predictive model controller of the robot is constructed by local linearization of the model to perform closed-loop control on the overall motion of the robot. For the control problem of the terminal trajectory, using the neural rhythmic movement theory in bionics to construct a robot central pattern generator (CPG) for real-time generation of terminal *** this paper, the motion state of WFF-Amphirobot is estimated, and a model-based overall motion controller for the robot and an end-effector controller based on neural rhythm control are constructed. The effectiveness of the controller and motion control algorithm is verified by simulation and physical prototype motion experiments on land and underwater, and the robot can ideally complete the desired ***/valueThe paper designed a controller for WFF-Amphirobot. First, when constructing the robot state estimator in this paper, the robot dynamics model is introduced as the a priori estimation model, and the error compensation of the a priori model is performed by the method of maximum a posteriori probability estimation, which improves the accuracy of the state estimator. Second, for the underwater oscillation motion characteristics of the flipper, the Hopf oscillator is used as the basis, and the flipper fluctuation equation is modified and improved by the CPG signal is adapted to the flipper oscillation demand. The controller effectively controls the position error and heading angle error with

关键词： amphibious robot Multimodal motion CPG Model predictive control

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Design, Analysis and Experiments of a High-Speed Water Hovering amphibious robot: AmphiSTAR

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IEEE ACCESS 2023年 11卷 80874-80885页

作者： Cohen, Avi Zarrouk, David Ben Gurion Univ Negev IL-84105 Beer Sheva Israel

The development, modeling, and performance of AmphiSTAR, a novel high-speed amphibious robot, are detailed in this paper. The robot is palm-sized and fitted with propellers at its bottom, enabling it to crawl on the ground and hover on the water at high speeds. The design of the AmphiSTAR is inspired by two members of the animal kingdom - the cockroach's sprawling mechanism and the Basilisk lizard's ability to hover on the water at high speeds. We developed a relatively simple physical model of the lift force as a function of the size of the propeller, its submersion level, and rotational speed. We built an experimental setup to validate the results, and the experimental results are consistent with the analytical model. The robot can crawl at 3.6 m/s (13.6 bodylengths/s) and hover continuously on water surfaces at 1.5 m/s (5.6 bodylengths/s) speeds, making it the fastest amphibious robot. Its elevation on the water surface reduces friction, and its high-speed motors provide forward thrust, enabling it to move at high speeds. Additionally, it can swim by rotating its propellers while floating at low speeds and transition from swimming to crawling (see video).

关键词： amphibious robot crawling robot design water hovering

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Modeling and implementation of a novel amphibious robot with multimode motion

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INDUSTRIAL robot-THE INTERNATIONAL JOURNAL OF robotICS RESEARCH AND APPLICATION 2022年第5期49卷 947-961页

作者： Li, Xuelong Jiang, Lei Liu, Xinxin Dang, Ruina Liu, Fusheng Wei, Wang Zhang, Tong Wang, Guoshun Wuhan Univ Sch Power & Mech Engn Wuhan Peoples R China Zhejiang Univ Coll Comp Sci & Technol Hangzhou Peoples R China China North Vehicle Res Inst Beijing Peoples R China Wuhan Univ State Key Lab Informat Engn Surveying Mapping & R Wuhan Peoples R China

Purpose The purpose of this paper is to introduce the modeling and implementation of a novel multimode amphibious robot, which is used for patrol and beach garbage cleaning in the land-water transition zone. Design/methodology/approach Starting from the design idea of multimode motion, the robot innovatively integrates the guiding fin and wheel together, is driven by the same motor and can achieve multimodal motion such as land, water surface and underwater with only six actuated degrees of freedom. The robot dispenses with the transmission mechanism by directly connecting the servo motor with a reducer to the actuator, so it has the characteristics of simplifying the structure and reducing the quality. And to the best of the authors' knowledge, the design of the robot can be considered the minimal configuration of amphibious robots with the same locomotion capabilities. Findings Based on the classical assumptions of underwater dynamics analysis, this paper uses basic airfoil theory to analyze the dynamics of the robot's horizontal and vertical motions and establishes its simplified dynamics model. Also, the underwater motion of the robot is simulated, and the results are in good agreement with the existing research results. Finally, to verify the feasibility of the robot, a prototype is implemented and fully evaluated by experiments. Experimental results show that the robot can reach the maximum speed of 2.5 m/s and 0.3 m/s on land and underwater, respectively, proving the effectiveness of the robot. Originality/value The robot has higher work efficiency with the powerful multimode motion, and its simplified structure makes it more stable while costing less.

关键词： amphibious robot Hydrodynamic model Multimode motion Wheel-fin integrated driving device

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