Abstract
We describe the novel, multiply gaited, vectored water-jet, hybrid locomotion-capable, amphibious spherical robot III (termed ASR-III) featuring a wheel-legged, water-jet composite driving system incorporating a lifting and supporting wheel mechanism (LSWM) and mechanical legs with a water-jet thruster. The LSWM allows the ASR-III to support the body and slide flexibly on smooth (flat) terrain. The composite driving system facilitates two on-land locomotion modes (sliding and walking) and underwater locomotion mode with vectored thrusters, improving adaptability to the amphibious environment. Sliding locomotion improves the stability and maneuverability of ASR-III on smooth flat terrain, whereas walking locomotion allows ASR-III to conquer rough terrain. We used both forward and reverse kinematic models to evaluate the walking and sliding gait efficiency. The robot can also realize underwater locomotion with four vectored water-jet thrusters, and is capable of forward motion, heading angle control and depth control. We evaluated LSWM efficiency and the sliding velocities associated with varying extensions of the LSWM. To explore gait stability and mobility, we performed on-land experiments on smooth flat terrain to define the optimal stride length and frequency. We also evaluated the efficacy of waypoint tracking when the sliding gait was employed, using a closed-loop proportional-integral-derivative (PID) control mechanism. Moreover, experiments of forward locomotion, heading angle control and depth control were conducted to verify the underwater performance of ASR-III. Comparison of the previous robot and ASR-III demonstrated the ASR-III had better amphibious motion performance.
Highlights
To reduce the load on the actuator and extend its working life, we developed an Lifting and Supporting Wheel Mechanism (LSWM) driven by two 360-degree servos
To evaluate sliding locomotion using the LSWM on smooth flat ground, we modeled a where R is the distance from the knee joint to the toe ( R = 63.25 mm )
Multiply gaited, vectored water-jet hybrid locomotion-capable, amphibious, spherical robot III
Summary
The mechanical legs were redesigned to feature four passive wheels [35], allowing the amphibious robot to move rapidly on smooth flat ground. The robot exhibited both roller-skating and walking locomotion. To enhance the space available for sensors, and to improve on-land stability and velocity, we developed a sliding mode-based, amphibious spherical robot employing a wheel-legged, water-jet, composite driving mechanism (including a lifting and supporting wheel mechanism (LSWM)) and mechanical legs with water-jet thruster. The robot combines the advantages of locomotion afforded by legs and wheels when walking on rough terrain, and sliding locomotion on flat ground or slopes. Land, the two hulls slide the robot can slide or walk using the wheel-legged composite driving mechanism. Rotates once, n is the number of rotations, S PWM is the PWM signal value, and k is as described described above
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