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On-line Access: 2022-03-18

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Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Xiang-juan BAI

https://orcid.org/0000-0002-6736-4365

Jian-zhong SHANG

https://orcid.org/0000-0001-6423-5289

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Journal of Zhejiang University SCIENCE A 2022 Vol.23 No.3 P.157-187

http://doi.org/10.1631/jzus.A2100137


Development of amphibious biomimetic robots


Author(s):  Xiang-juan BAI, Jian-zhong SHANG, Zi-rong LUO, Tao JIANG, Qian YIN

Affiliation(s):  Department of Intelligent Machinery and Instrument, National University of Defense Technology, Changsha 410073, China

Corresponding email(s):   jz_shang_nudt@163.comluozirong@nudt.edu.cn

Key Words:  Amphibious robots, Biomimetic robots, Bionic technology, Intelligent robots, Robotics


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Xiang-juan BAI, Jian-zhong SHANG, Zi-rong LUO, Tao JIANG, Qian YIN. Development of amphibious biomimetic robots[J]. Journal of Zhejiang University Science A, 2022, 23(3): 157-187.

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Abstract: 
amphibious robots are becoming increasingly important for civilian, scientific, and environmental missions. They are widely used in disaster rescue, ecosystem monitoring, and entertainment. However, some have two different locomotion systems that need to be changed manually to fulfill both swimming in the water and moving on land, which may reduce their efficiency and reliability. Applying bioinspiration and biomimetics, many recently developed amphibious robots can undertake various tasks in complex amphibious environments with high mobility, flexibility, and energy efficiency. This review overviews the latest developments in amphibious robots, emphasizing biomimetic design concepts, backbone driving mechanisms, and typical applications. The performance indices of amphibious robots mimicking 13 different natural sources are compared, based on 10 different propulsion principles/modes, travel speed, working efficiency, maneuverability, and stability. Finally, the current challenges and perspectives of amphibious bio-inspired robots are discussed. This article summarizes the current types of amphibious robots and their movement and behavior solutions. The design concepts and operating mechanisms of amphibious robots reviewed here can be readily applied to other robotic studies.

水陸兩栖仿生(shēng)機器人的發展與展望

作者:白(bái)向娟,尚建忠,羅自榮,蔣濤,殷謙
機構:國防科技大(dà)學,智能科學學院,智能機械與儀器系,中(zhōng)國長沙,410073
目的:1.通過對仿生(shēng)生(shēng)物(wù)行進功能和結構特性等特征的研究,分(fēn)析總結現有兩栖仿生(shēng)機器人的特征。2.分(fēn)析總結探讨仿生(shēng)生(shēng)物(wù)的自身生(shēng)物(wù)結構優勢,并通過應用仿生(shēng)學提高水陸兩栖環境下(xià)的機器人性能。
創新點:1.從13種不同仿生(shēng)原型的角度歸納了典型的兩栖機器人,比較了目前兩栖機器人的研究技術參數,并總結了兩栖機器人10種不同的推進方法以及行駛速度、工(gōng)作效率、機動性和穩定性。2.創新性地提出了兩栖機器人運動能力評價指标和仿生(shēng)機器人仿生(shēng)化程度評價方法。
方法:1.通過查閱現有多種水陸兩栖仿生(shēng)機器人的研究技術參數,總結兩栖機器人的功能和結構等特性。2.通過應用性驗證,對提出的仿生(shēng)機器人性能進行評價比較分(fēn)析。
結論:1.應用仿生(shēng)學的設計理念,可以有效地提高水陸兩栖仿生(shēng)機器人在複雜(zá)兩栖環境中(zhōng)的機動性、靈活性和能效等性能。2.通過比較分(fēn)析現有兩栖機器人的推進方式、工(gōng)作效率和機動性等性能,可以将該仿生(shēng)學設計方法和機理應用到其他種類的機器人研究中(zhōng),從而提高機器人在民用、科學和環境任務中(zhōng)的應用潛能。

關鍵詞:水陸兩栖機器人;仿生(shēng)機器人;仿生(shēng)技術;智能機器人;機器人學

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

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