Tytuł artykułuFLHex: a flapped-paddle hexapod for all-terrain amphibious locomotion
Tytuł czasopismaBulletin of the Polish Academy of Sciences: Technical Sciences
AfiliacjeBurzynski, Piotr : Bialystok University of Technology, Department of Robotics and Mechatronics, ul. Wiejska 45C, 15-351 Bialystok, Poland ; Simha, Ashutosh : School of Information Technologies, Department of Software Science, Tallinn University of Technology, 12618 Tallinn, Estonia ; Kotta, Ülle : School of Information Technologies, Department of Software Science, Tallinn University of Technology, 12618 Tallinn, Estonia ; Pawluszewicz, Ewa : Bialystok University of Technology, Department of Robotics and Mechatronics, ul. Wiejska 45C, 15-351 Bialystok, Poland ; Sastry, Shivakumar : University of Akron, Department of Electrical and Computer Engineering, Akron, Ohio 44325, USA
Słowa kluczowebiologically-inspired robots ; amphibious robotics ; mechanism design
Wydział PANNauki Techniczne
- A. Crespi, K. Karakasiliotis, A. Guignard, and A.J. Ijspeert, “Salamandra robotica II: an amphibious robot to study salamander-like swimming and walking gaits,” IEEE Trans. Rob., vol. 29, no. 2, pp. 308‒320, 2013.
- M. Gad-El-Hak, “Coherent structures and flow control: genesis and prospect,” Bull. Pol. Acad. Sci. Tech. Sci., vol. 67, no. 3, pp. 411‒444, 2019.
- A.J. Ijspeert, A. Crespi, D. Ryczko, and J.M. Cabelguen, “From swimming to walking with a salamander robot driven by a spinal cord model,” Science, vol. 315, no. 5817, pp. 1416‒1420, 2007.
- E. Natarajan, K.Y. Chia, A.A.M. Faudzi, W.H. Lim, Ch.K. Ang, and A. Jafaari, “Bio Inspired Salamander Robot with Pneu-Net Soft ac- tuators-Design and Walking Gait Analysis,” Bull. Pol. Acad. Sci. Tech. Sci., vol. 69, no. 3, 2021, Article number: e137055, doi: 10.24425/ bpasts.2021.137055.
- K. Karakasiliotis and A.J. Ijspeert, “Analysis of the terrestrial locomotion of a salamander robot,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis 2009, pp. 5015‒5020.
- P. Liljebäck, Ø. Stavdahl, K.Y. Pettersen, and J.T. Gravdahl, “Mamba-A waterproof snake robot with tactile sensing,” in Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, US, 2014, pp. 294‒301.
- S. Hirose and H. Yamada, “Snake-like robots machine design of biologically inspired robots,” IEEE Rob. Autom. Mag., vol. 3, 2009.
- J. Yu, R. Ding, Q. Yang, M. Tan, and J. Zhang, “Amphibious Pattern Design of a Robotic Fish with Wheel-propeller-fin Mechanisms,” J. Field Rob., vol. 30, no. 5, pp. 702‒716, 2013.
- J. Yu, R. Ding, Q. Yang, M. Tan, W. Wang, and J. Zhang, “On a bio-inspired amphibious robot capable of multimodal motion,” IEEE/ ASME Trans. Mechatron., vol. 17, no. 5, pp. 847‒856, 2011.
- T. Paschal, M.A. Bell, J. Sperry, S. Sieniewicz, R.J. Wood, and J.C. Weaver, “Design, fabrication, and characterization of an untethered amphibious sea urchin-inspired robot,” IEEE Rob. Autom. Lett., vol. 4, no. 4, pp. 3348‒3354, 2019.
- V. Kaznov and M. Seeman, “Outdoor navigation with a spherical amphibious robot,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan 2010, pp. 5113‒5118.
- Y. Shen, Y. Sun, H. Pu and S. Ma, “Experimental verification of the oscillating paddling gait for an ePaddle-EGM amphibious locomotion mechanism,” IEEE Rob. Autom. Lett., vol. 2, no. 4, pp. 2322‒2327, 2017.
- U. Saranli, M. Buehler, and D.E. Koditschek, “Design, modeling and preliminary control of a compliant hexapod robot,” in Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco,CA, 2000, vol.3, pp. 2589‒2596.
- U. Saranli, M. Buehler, and D.E. Koditschek, “RHex: A simple and highly mobile hexapod robot,” Int. J. Rob. Res., vol. 20, no. 7, pp. 616‒631, 2001.
- G. Dudek et al., “Aqua: An amphibious autonomous robot,” Computer, vol. 40, no. 1, pp. 46‒53, 2007.
- Ch. Georgiades, M. Nahon, and M. Buehler, “Simulation of an underwater hexapod robot,” Ocean Eng., vol. 36, no. 1, pp. 39‒47, 2009.
- X. Liang et al., “The amphihex: A novel amphibious robot with transformable leg-flipper composite propulsion mechanism,” in Proceed- ings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal, 2012, pp. 3667‒3672.
- S. Zhang, X. Liang, L. Xu, and M. Xu, “Initial development of a novel amphibious robot with transformable fin-leg composite propulsion mechanisms,” J. Bionic Eng., vol. 10, no. 4, pp.434‒445, 2013.
- S. Zhang, Y. Zhou, M. Xu, X. Liang, J. Liu, and J. Yang, “AmphiHex-I: locomotory performance in amphibious environments with specially designed transformable flipper legs,” IEEE/ASME Trans. Mechatron., vol. 21, no. 3, p. 1720‒1731, 2015.
- P. Burzyński, Poland, FLHex: A Flapped-Paddle Hexapod, (Aug. 01, 2021). [Online Video]. Available: https://www.youtube.com/ watch?v=Ux1AlOFUUco (Accessed: Aug. 2, 2021).
- A. Simha, R. Gkliva, Ü. Kotta, and M. Kruusmaa, “A Flapped Paddle-Fin for Improving Underwater Propulsive Efficiency of Oscillatory Actuation,” IEEE Rob. Autom. Lett., vol. 5, no. 2, pp. 3176‒3181, 2020.
- K.E. Crandell and B.W. Tobalske, “Kinematics and aerodynamics of avian upstrokes during slow flight,” J. Exp. Biol., vol. 218, no. 16, pp. 2518‒2527, 2015.
- W. Yang and B. Song, “Experimental investigation of aerodynamics of feather-covered flapping wing,” Appl. Bionics Biomech., vol. 2017, 2017, Article ID: 3019640. doi: 10.1155/2017/3019640.
- B.B. Dey, S. Manjanna, and Dudek G., “Ninja legs: Amphibious one degree of freedom robotic legs,” in Proceedings of the 2013 IEEE/ RSJ International Conference on Intelligent Robots and Systems, Tokio, Japan, 2013, pp. 5622‒5628.
- S.B.A. Kashem, S. Jawed, A. Jubaer, and Q. Uvais, “Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet,” Robotics, vol. 8, no. 3, p. 77, 2019, doi: 10.3390/robotics8030077.
- B. Kwak and J. Bae, “Design of hair-like appendages and comparative analysis on their coordination toward steady and efficient swimming,” Bioinspir. Biomim., vol. 12, no. 3, p. 036014, 2017, doi: 10.1088/1748-3190/aa6c7a.
- S.B. Behbahani and X. Tan, “Design and modeling of flexible passive rowing joint for robotic fish pectoral fins,” IEEE Trans. Rob., vol. 32, no. 5, pp. 1119‒1132, 2016.
- Ch.J. Esposito, J.L. Tangorra, B.E. Flammang, and G.V. Lauder, “A robotic fish caudal fin: effects of stiffness and motor program on locomotor performance,” J. Exp. Biol., vol. 215, no. 1, pp. 56‒67, 2012.
- G.V. Lauder, “Function of the caudal fin during locomotion in fishes: kinematics, flow visualization, and evolutionary patterns,” Am. Zool., vol. 40, no. 1, pp. 101‒122, 2000.
- S.C. Licht, M. Wibawa, F.S. Hover, and M.S. Triantafyllou, “Towards amphibious robots: Asymmetric flapping foil motion underwater produces large thrust efficiently,” Technical Raport, Massachusetts Institute of Technology. Sea Grant College Program, 2009.
- Ch. Meurer, A. Simha, Ü. Kotta, and M. Kruusmaa, “Nonlinear Orientation Controller for a Compliant Robotic Fish Based on Asymmetric Actuation,” in Proceedings of the International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019, pp. 4688‒4694.
- G.V. Lauder and E.D. Tytell, “Hydrodynamics of undulatory propulsion,” Fish Physiol., vol. 23, pp. 425‒468, 2005.
- M. Bozkurttas, J. Tangorra, G. Lauder, and R. Mittal, “Understanding the hydrodynamics of swimming: From fish fins to flexible pro- pulsors for autonomous underwater vehicles,” Adv. Sci. Technol., vol.58, pp. 193‒202, 2008.
- N. Martin, Ch. Roh, S. Idrees, and M. Gharib, “To flap or not to flap: comparison between flapping and clapping propulsions,” J. Fluid Mech., vol.822, p. R5, 2017, doi: 10.1017/jfm.2017.252.
- M. Sfakiotakis, D.M. Lane, and J.B.C. Davies, “Review of fish swimming modes for aquatic locomotion,” IEEE J. Oceanic Eng., vol. 24, no. 2, pp. 237‒252, 1999.
- R. Gkliva, M. Sfakiotakis, and M. Kruusmaa, “Development and experimental assessment of a flexible robot fin,” in Proceedings of the 2018 IEEE International Conference on Soft Robotics (RoboSoft), Livorno, Italy, 2018, pp. 208‒213.