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Design and Evaluation of the Terrestrial Gait of the Bionic Robotic Duck

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Intelligent Robotics and Applications (ICIRA 2022)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13455))

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Abstract

With the exploration of the ocean, amphibious robots can integrate the advantages of underwater and land robots, and can achieve detection on land, underwater, and seabed. 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; two kinds of land gait designs and simulation analysis of the robot are carried out by ADAMS software. In the simulation process, by adjusting the leg bending angle and joint rotation frequency of the two basic gaits designed, the robot can have a certain ability to overcome obstacles, and can run smoothly on horizontal ground and slopes with different angles. progress. Finally, according to the experimental results, the relationship curves between the leg bending angle and the anterior distance and the joint rotation frequency and the anterior distance were fitted. The bionic duck robot can choose the most suitable gait through the expression of fitting curve under different land environment conditions.

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Authors and Affiliations

  1. Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, School of Life Science, Beijing Institute of Technology, No. 5, Zhongguancun South Street, Haidian District, Beijing, 100081, China

    Zhengyu Li, Liwei Shi & Shuxiang Guo

Authors
  1. Zhengyu Li
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  2. Liwei Shi
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  3. Shuxiang Guo
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Corresponding author

Correspondence to Liwei Shi .

Editor information

Editors and Affiliations

  1. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  2. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  3. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  4. Harbin Institute of Technology, Harbin, China

    Li Jiang

  5. Shanghai Jiao Tong University, Shanghai, China

    Guoying Gu

  6. Shenzhen Institute of Advanced Technology, Shenzhen, China

    Xinyu Wu

  7. Harbin Institute of Technology, Shenzhen, China

    Weihong Ren

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Li, Z., Shi, L., Guo, S. (2022). Design and Evaluation of the Terrestrial Gait of the Bionic Robotic Duck. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13455. Springer, Cham. https://doi.org/10.1007/978-3-031-13844-7_31

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  • DOI: https://doi.org/10.1007/978-3-031-13844-7_31

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-13843-0

  • Online ISBN: 978-3-031-13844-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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