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.
Motion Planning for Wave-Like-Actuated Manta-Inspired Amphibious Robots
Lect. Notes Electrical Eng.
The International Conference on Applied Nonlinear Dynamics, Vibration and Control ; 2023 ; Kowloon, Hong Kong December 04, 2023 - December 06, 2023
Advances in Applied Nonlinear Dynamics, Vibration, and Control – 2023 ; Kapitel : 40 ; 529-540
2024-02-11
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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