Development and control of articulated amphibious spherical robot

  • Liang Zheng
  • Yan PiaoEmail author
  • Yuke Ma
  • Yue Wang
Technical Paper


In this paper, we proposed an amphibious spherical robot that can search and rescue from uneven terrain and also move in narrow underwater spaces. This paper presents three control methods for an articulated amphibious spherical robot. The first is a full-dimensional that is adapted the robot to the complex amphibious terrain, in this method, relying on a novel drive mode of mecanum wheels, the power required for the movement comes from the friction generated by mecanum wheels and the spherical shell. The second control method is modeling based on a unit quaternion motion control algorithm to realized 6 Degrees of Freedoms (DoFs) movement mode. The last control algorithm is according to Archimede Buoyancy Principle (ABP) and Fuzzy Control (FC) algorithm by controlling the air density of the spherical capsules in the lower hemispheres, the relationship between buoyancy and gravity is controlled to achieve the functions of floating and diving. Experiments are performed to demonstrate the effectiveness of the proposed methods and the developed robot.



This research is partly supported by the Jilin Agricultural Science and Technology University College Students Science and Technology Innovation and Entrepreneurship Training Project (No. 201911439027); Jilin Agricultural Science and Technology University Youth Fund Project (No. 20190505).


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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Changchun University of Science and TechnologyChangchunChina
  2. 2.Jilin Agricultural Science and Technology UniversityJilinChina

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