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Development of an Amphibian Legged Robot Based on Jansen Mechanism for Exploration Tasks

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  • First Online:
Advancements in Automation, Robotics and Sensing (ICAARS 2016)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 627))

Abstract

The paper discusses the development of a linkage based amphibian legged robot for exploration and surveillance tasks. The proposed system can walk on both ground and water surfaces. The proposed system has two major mechanisms for its motion namely a planar eight bar Jansen mechanism as a leg and an Ackermann steering mechanism as for turning. The performance of the proposed mechanisms is verified in terms of motion, force (motion/walking) and structural aspects. The effectiveness and performance of the system is demonstrated by using an in-house fabricated prototype for different working conditions. The Jansen legged mechanism is redesigned in order to improve the drag force during walking on the water surface.

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Acknowledgment

This research is supported by the Discipline of Mechanical Engineering, Indian Institute of Technology, Indore, India.

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, PSG College of Technology, Coimbatore, Tamil Nadu, India

    Gopi Krishnan Regulan & Ganesan Kaliappan

  2. Discipline of Mechanical Engineering, Indian Institute of Technology Indore, Indore, Madhya Pradesh, India

    M. Santhakumar

Authors
  1. Gopi Krishnan Regulan
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  2. Ganesan Kaliappan
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  3. M. Santhakumar
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Corresponding author

Correspondence to M. Santhakumar .

Editor information

Editors and Affiliations

  1. Department of Robotics and Automation Engineering, PSG College of Technology, Coimbatore, India

    B Vinod

  2. College of Technology, Purdue University, Lafayette, Indiana, USA

    Richard Voyles

  3. Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore

    Prahlad Vadakkepat

  4. Department of Robotics and Automation Engineering, PSG College of Technology, Coimbatore, India

    M. Sundaram

  5. Department of Robotics and Automation Engineering, PSG College of Technology, Coimbatore, India

    K S Sujatha

  6. Department of Robotics and Automation Engineering, PSG College of Technology, Coimbatore, India

    J Joe Brislin

Appendix

Appendix

Kinematic Modeling of Jansen Mechanism simulation

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© 2016 Springer Nature Singapore Pte Ltd.

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Regulan, G.K., Kaliappan, G., Santhakumar, M. (2016). Development of an Amphibian Legged Robot Based on Jansen Mechanism for Exploration Tasks. In: Vinod, B., Voyles, R., Vadakkepat, P., Sundaram, M., Sujatha, K., Brislin, J. (eds) Advancements in Automation, Robotics and Sensing. ICAARS 2016. Communications in Computer and Information Science, vol 627. Springer, Singapore. https://doi.org/10.1007/978-981-10-2845-8_7

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  • DOI: https://doi.org/10.1007/978-981-10-2845-8_7

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2844-1

  • Online ISBN: 978-981-10-2845-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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