Design and Control Research of a Triphibious Robot Based on Rotors

Abstract

Traditional mobile robots tend to focus on a single motion mode. Although a few developed amphibious robots have one more motion mode than ordinary mobile robots, they still cannot adapt to multiple environments. In order to improve the adaptability of mobile robot, this paper introduces a triphibious robot based on the coaxial eight-rotor. First, mechanical structure and working principle of the robot are described, and then dynamic modeling of the robot is carried out through Newton's second law and euler equations, and the dynamic model is verified via simulations implemented in matlab/simulink environment. Finally, experiment verifies that the robot can achieve the expected three motion modes, so as to prove that it can improve the adaptability of the robot to the environment.