FAMU/FSU College of Engineering, Tallahassee, FL 32310, United States of America.
Bioinspir Biomim. 2022 Nov 16;18(1). doi: 10.1088/1748-3190/aca05c.
Many legged robots have taken insight from animals to run, jump, and climb. Very few, however, have extended the flexibility of limbs to the task of swimming. In this paper, we address the study of multi-modal limbed locomotion by extending our lateral plane reduced order dynamic model of climbing to swimming. Following this, we develop a robot, AquaClimber, which utilizes the model's locomotive style, similar to human freestyle swimming, to propel itself through fluid and to climb vertical walls, as well as transition between the two. A comparison of simulation and model results indicate that the simulation can predict how hand design, arm compliance, and driving frequency affect swimming speed and behavior. Using this reduced order model, we have successfully developed the first limbed aquatic-scansorial multi-modal robot.
多足机器人从动物身上汲取灵感，实现了奔跑、跳跃和攀爬等功能。然而，很少有机器人将肢体的灵活性扩展到游泳任务中。在本文中，我们通过将我们的横向平面简化阶动力学模型从攀爬扩展到游泳来研究多模态多足运动。在此之后，我们开发了一种名为 AquaClimber 的机器人，它利用类似于人类自由泳的模型运动方式，在水中推动自身前进并爬上垂直墙壁，以及在两者之间进行转换。模拟和模型结果的比较表明，模拟可以预测手部设计、手臂顺应性和驱动频率如何影响游泳速度和行为。使用这个简化阶模型，我们已经成功开发了第一个具有多模态水栖攀爬功能的多足机器人。
