Amphibious Robot Research Articles

From Swimming to Walking with a Salamander Robot Driven by a Spinal Cord Model

The transition from aquatic to terrestrial locomotion was a key development in vertebrate evolution. We present a spinal cord model and its implementation in an amphibious salamander robot that demonstrates how a primitive neural circuit for swimming can be extended by phylogenetically more recent limb oscillatory centers to explain the ability of salamanders to switch between swimming and walking. The model suggests neural mechanisms for modulation of velocity, direction, and type of gait that are relevant for all tetrapods. It predicts that limb oscillatory centers have lower intrinsic frequencies than body oscillatory centers, and we present biological data supporting this.

AQUA: An Amphibious Autonomous Robot

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. The vehicle uses a variety of sensors to estimate its position with respect to local visual features and provide a global frame of reference

1P1-C05 アメンボを規範とした水陸両用型移動ロボットの開発(バイオミメティクス・ロボティクス)

1P1-C05 アメンボを規範とした水陸両用型移動ロボットの開発(バイオミメティクス・ロボティクス)

A Bio-mimetic Amphibious Soft Cord Robot

Some living beings both on ground and in water can move by forming traveling waves along their bodies, therefore the mechanisms using the traveling waves have the amphibious possibility. Several robots have been developed using the mechanisms, but there are no amphibious robots. In this study, our goal is development of a bio-mimetic soft cord robot which can move on ground and in water. First, we took particular note of a millipede and an eel, because they are similar to point of using the traveling waves for moving, but their living environments are different; the millipede lives on the ground and the eel lives in water, and their moving principles were cleared theoretically and confirmed by computer simulation. As the result, the relations between their moving and the progressing directions of traveling waves were made clear. Second, a soft cord robot, 915 mm in length, 11 mm in width and 5 mm in height, which was based on the principles of the millipede and the eel was developed. Finally, the experiments of the robot were carried out, and they showed that the robot could move both on the ground and in water successfully. Moreover the robot could negotiate in the curve tube without special control algorithm because of its high compliance.

Simulation and Robotics Studies of Salamander Locomotion: Applying Neurobiological Principles to the Control of Locomotion in Robots

This article presents a project that aims at understanding the neural circuitry controlling salamander locomotion, and developing an amphibious salamander-like robot capable of replicating its bimodal locomotion, namely swimming and terrestrial walking. The controllers of the robot are central pattern generator models inspired by the salamander's locomotion control network. The goal of the project is twofold: (1) to use robots as tools for gaining a better understanding of locomotion control in vertebrates and (2) to develop new robot and control technologies for developing agile and adaptive outdoor robots. The article has four parts. We first describe the motivations behind the project. We then present neuromechanical simulation studies of locomotion control in salamanders. This is followed by a description of the current stage of the robotic developments. We conclude the article with a discussion on the usefulness of robots in neuroscience research with a special focus on locomotion control.

AmphiBot I: an amphibious snake-like robot

This article presents a project that aims at constructing a biologically inspired amphibious snake-like robot. The robot is designed to be capable of anguilliform swimming like sea-snakes and lampreys in water and lateral undulatory locomotion like a snake on ground. Both the structure and the controller of the robot are inspired by elongate vertebrates. In particular, the locomotion of the robot is controlled by a central pattern generator (a system of coupled oscillators) that produces travelling waves of oscillations as limit cycle behavior. We present the design considerations behind the robot and its controller. Experiments are carried out to identify the types of travelling waves that optimize speed during lateral undulatory locomotion on ground. In particular, the optimal frequency, amplitude and wavelength are thus identified when the robot is crawling on a particular surface.

Development of rescue robots in Tokyo institute of technology

I will introduce our research activities about robotic systems for rescue operation. I will discuss about snake-like robot suitable for the locomotion in a narrow and winding space and even in a dust-filled environment, and then demonstrates some of the examples; e.g. i) ACMR3, basic 3D snake like robots, ii)Soryu-III, three joints snake-like robot with crawlers, iii) Slime Slime robots, mechanisms with pneumatic actuators and bridle bellows, and iv) HELIXI, amphibious snake-like robot which makes specific spiral swimming motion just like spirochete. The effectiveness of the hyper-tether, robotic system utilizing tether traction mechanisms, will also shown. I will finally emphasize the effectiveness of ordinary-lifeembedded rescue devices, and demonstrate several examples such as a versatile jack-up device for automobiles.