Design of small-outline robot - simulator of gait of an amphibian

Abstract

A subject of presented work ware design and construction of a prototype of robot, which can move, like an amphibian, for example salamander. A lot of issues were considered in this work connected to quadrupeds, particularly amphibians. Robot, which has been built, generates both types of gait: walking gait and swimming gait. Modular structure is one of its features, and constructed modules are fully interchangeable. This feature makes that construction easy to reconstruction and makes it multitasking. Considered device is a great base for a further development of animals-like robots and is a very valuable tool for didactic purposes. It is a typical example of mechatronic device structure, which combines mechanical and electronic parts with software.