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A Multimodal Amphibious Robot Driven by Soft Electrohydraulic Flippers.

Fuyi Fang1, Junfeng Zhou1, Yuanzhen Zhang2

  • 1State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China.

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Summary

This study introduces a novel soft robot capable of efficient amphibious locomotion. The robot utilizes electrohydraulic flippers for seamless transitions between crawling and swimming in water and on land.

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Area of Science:

  • Robotics
  • Materials Science
  • Fluid Mechanics

Background:

  • Soft robots offer unique advantages for exploring complex environments due to their flexibility.
  • Efficient actuation and multimodal locomotion in amphibious settings remain a significant challenge for soft robots.

Purpose of the Study:

  • To develop a multimodal amphibious soft robot with efficient actuation and locomotion capabilities.
  • To demonstrate seamless transitions between different locomotion modes in amphibious environments.

Main Methods:

  • Design and fabrication of a radially symmetric soft robot with three electrohydraulic flippers.
  • Independent and synergistic actuation of flippers for propulsion in air and water.
  • Theoretical analysis and experimental validation of flipper performance and optimal actuation frequencies.

Main Results:

  • The soft electrohydraulic flippers demonstrated remarkable actuation performance in both air and water.
  • Optimal actuation frequencies were identified to maximize locomotion efficiency.
  • The robot successfully transitioned between crawling on land, crawling underwater, and swimming without reconfiguration.

Conclusions:

  • This work presents the first amphibious soft robot utilizing electrohydraulic actuators for multimodal locomotion transitions.
  • The developed robot showcases efficient amphibious navigation and opens new avenues for soft robotic applications in complex environments.