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Area of Science:

  • Robotics
  • Biomimetics
  • Mechanical Engineering

Background:

  • Amphibious robots need efficient locomotion for seamless terrestrial and aquatic transitions.
  • Existing designs often struggle with adaptability and propulsion efficiency across environments.
  • Bio-inspiration from aquatic organisms offers potential solutions for wave-based locomotion.

Purpose of the Study:

  • To introduce a novel bio-inspired propulsion system for amphibious robots.
  • To emulate natural wave-based locomotion for improved adaptability and efficiency.
  • To investigate a mechanism combining crank-rocker and sliding components for amphibious locomotion.

Main Methods:

  • Developed a kinematic model to analyze wave propagation and thrust generation.
  • Utilized animation-based simulations to validate locomotion patterns and coordination.
  • Fabricated and experimentally tested a functional prototype in terrestrial and aquatic settings.

Main Results:

  • The proposed mechanism successfully generated wave-like motions for both crawling and paddling.
  • Kinematic modeling provided insights into motion efficiency and thrust generation.
  • Experimental validation confirmed the prototype's capability for amphibious locomotion.

Conclusions:

  • The novel bio-inspired propulsion system demonstrates feasibility for amphibious robots.
  • The rigid-flexible coupling design balances structural integrity and motion flexibility.
  • The findings highlight potential for advancements in biomimetic robotics and exploration.