The Terrestrial Gait Design of the Bionic Robotic Duck

• Main Authors: Li, Zhengyu, Shi, Liwei, Guo, Shuxiang, Zhang, Zhongyin, Liu, Meng, Pengxiao, Bao
• Format: Conference Proceeding
• Language: English
• Subjects: Analytical models; Biological system modeling; Kinematics modeling; Legged locomotion; Oceans; Prototypes; Rivers; Software; Structural design; The gait designs
• ISSN: 2152-744X
• DOI: 10.1109/ICMA54519.2022.9856001

With the increasing demand for ocean exploration, amphibious robots can integrate the advantages of underwater and land robots, and can achieve detection on land, underwater, and seabed. Underwater robots or land robots generally can only work in a single environment, but amphibious robots can adapt to complex and diverse environments, such as completing the dredging work of small and medium-sized rivers, lakes, wetlands, and swamps, and it could also be used for coastline patrol in military. This topic proposed the idea of bionic waterfowl, designed a set of amphibious bionic waterfowl robot prototype, and built the machinery platform and control system platform. The robot's dynamic leg and head and neck are moved by modeling; the land gait design and simulation analysis of the robot are carried out by ADAMS software. Through the analysis of the simulated gait, it is determined that the gait is stable and efficient, which lays the foundation for the actual control of the subsequent prototype.