Inspired by manta rays, an amphibious robot is designed by utilizing a wave-like mechanism for propulsion. In terms of robot design, the swimming characteristics of the manta ray are analyzed, and mechanical structures such as flexible biomimetic fins and wave-like propulsion mechanisms are designed, enabling the robot to move both in water and on land. Furthermore, the kinematic model of the wave-like-actuated manta-inspired amphibious robot is established. Then, a path planning method based on the improved Rapidly-exploring Random Tree (RRT) algorithm is proposed, and combined with S-curve acceleration and deceleration planning to achieve velocity planning for robots. Experiments are conducted to validate the robot’s motion performance and the effectiveness of the motion planning algorithm.


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    Titel :

    Motion Planning for Wave-Like-Actuated Manta-Inspired Amphibious Robots


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Jing, Xingjian (Herausgeber:in) / Ding, Hu (Herausgeber:in) / Ji, Jinchen (Herausgeber:in) / Yurchenko, Daniil (Herausgeber:in) / Wang, Yixuan (Autor:in) / Wu, Qingxiang (Autor:in) / Wang, Xuebing (Autor:in) / Sun, Ning (Autor:in)

    Kongress:

    The International Conference on Applied Nonlinear Dynamics, Vibration and Control ; 2023 ; Kowloon, Hong Kong December 04, 2023 - December 06, 2023



    Erscheinungsdatum :

    2024-02-11


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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