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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    Title :

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


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Jing, Xingjian (editor) / Ding, Hu (editor) / Ji, Jinchen (editor) / Yurchenko, Daniil (editor) / Wang, Yixuan (author) / Wu, Qingxiang (author) / Wang, Xuebing (author) / Sun, Ning (author)

    Conference:

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



    Publication date :

    2024-02-11


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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