The communication and stability evaluation of amphibious spherical robots
- 2 Downloads
This paper aims to improve the collaboration ability and stability of amphibious spherical robots (ASRs). According to our previous researches, robots have no communication or control stability module. This study designed a new torque gyro control stability and an artificial electronic communication module devoted to allowing the robot to both move on land and underwater, which used a gyro sensor to design a closed-loop control module to perform terrestrial locomotion efficiently. Regarding the spherical robot mechanical structure and dynamic model, the robot communication module is designed, and the physical robot is set up to complete specific experiments. In addition, it is necessary to analyze the underwater and land motion to evaluate the performance of the robot stability motion and communication module, which includes the gait stability and velocity, and predicts the effects of the key parameters, such as electrode distance and emitter current of the amphibious spherical robot when it moves in underwater or on land. We also characterize communicate performance of the robots in still water with obstacles and natural water conditions.
This research is partly supported by National Natural Science Foundation of China (61375094).
- Ferrero F, Lanteri J, Brochier L et al (2017) Impact of mechanical accuracy in mmW spherical measurements. Antenna measurements & applications (CAMA). IEEE Conf IEEE 1(1):377–380Google Scholar
- Guo S, Mao S, Shi L, Li M (2012b) Design and kinematic analysis of an amphibious spherical robot. In: 2012 IEEE international conference on mechatronics and automation. IEEE, 4(1):2214–2219Google Scholar
- Guo S, Pan S, Li X, Shi L, Zhang P, Guo P, He Y (2017d) A system on chip-based real-time tracking system for amphibious spherical robots. Int J Adv Rob Syst 14(4):1729881417716559Google Scholar
- Li Y, Guo S (2016) Communication between spherical underwater robots based on the acoustic communication methods. In: Proceedings of the 2016 IEEE international conference on mechatronics and automation, pp 403–408Google Scholar
- Lin Z, Xiong Y, Dai H et al (2017) An experimental performance evaluation of the orientation accuracy of four nine-axis MEMS motion sensors enterprise systems (ES). 5th Int Conf IEEE 2(1):185–189Google Scholar
- Pan Q, Guo S, Okada T (2011) A novel hybrid wireless microrobot. Int J Mech Autom 1(1):60–69Google Scholar
- Pavithra D, Varsha PH (2017) A Review on underwater communication with an aerial platform. Asian J Appl Sci Technol 1(5):25–27Google Scholar
- Renner C (2017) Packet-based ranging with a low-power, low-cost acoustic modem for micro AUVs. In: proceedings of 11th international itg conference on systems, communications and coding, vol 11, no 1, pp 1–6Google Scholar
- Roos F, Appenrodt N, Dickmann J et al (2018) Waveform multiplexing using chirp rate diversity for chirp-sequence based MIMO radar systems. 2018 IEEE radio and wireless symposium (RWS). Univ Ulm 10(2):60–63Google Scholar
- Wu TC, Chi YC, Wang HY, Tsai CT, Lin GR (2017) Blue laser diode enables underwater communication at 12.4 Gbps. Sci Rep 1(7):1–9Google Scholar
- Yue C, Guo S, Shi L (2013) Hydrodynamic analysis of the spherical underwater robot SUR-II. Int J Adv Rob Syst 10(5):1–12Google Scholar