Development of a robotic platform for amphibious locomotion on ground and water surfaces

摘要

Robots are designed to drive in various kind of environment but the nature environments are very complex. The purpose of this research is to design the robot for amphibious locomotion based on hexapedal mechanism. Prototype is assembled and various experiments are performed for the prototype. In the experiment on the water-surface, we measure rolling angle and lifting force and guarantee the stable running on water surface. In the experiment on the ground, success rates for different operating frequency are investigated. This research is going to be a guideline to develop the robot for amphibious locomotion on ground and water surfaces.