Structure design, kinematic modeling, and motion planning of novel ray-inspired amphibious robots

• Published in: 工程科学学报 Vol. 46; no. 9; pp. 1594 - 1603
• Main Authors: Xuebing WANG, Qingxiang WU, Yixuan WANG, Yaxuan WU, Ning SUN
• Format: Journal Article
• Language: Chinese
• Published: Science Press 01.09.2024
• Subjects: amphibious robots; ray-inspired flexible fins; ray-inspired robots; trajectory planning; wave-inspired actuated mechanisms
• ISSN: 2095-9389
• DOI: 10.13374/j.issn2095-9389.2023.08.31.006

Cross-media operating robots are versatile machines that can move and perform tasks in various environments such as air, water, and land. These robots are highly adaptable and flexible, making them useful in a wide range of applications, including exploration, marine research, environmental monitoring, military reconnaissance, industrial and infrastructure maintenance, and emergency response. Cross-media operating robots need to switch corresponding movement modes in different environments, such as using buoys or propellers in water and wheels or legs on land. However, existing amphibious robots often have complex structures and high maintenance costs because they rely on multiple sets of actuated systems, which leads to increased difficulty in control and longer operating times. To address these challenges, this study presents a novel wave-inspired actuated ray-inspired amphibious robot (WARAR). The WARAR design includes a wave-inspired actuated mechanism that transforms motor rotation into sinusoidal waves