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Design, Dynamic Modeling, and Motion Analysis of a Frog-Inspired Hybrid-Driven Amphibious Robot
Yitao Pan1, Libing Hu1, Yongsheng Ou1
1School of Control Science and Engineering, Dalian University of Technology, Linggong Road 2, Dalian 116024, China.
Sensors (Basel, Switzerland)
|July 15, 2026
Summary
This study introduces a novel frog-inspired robot capable of both swimming and jumping. This hybrid-driven amphibious robot achieves enhanced locomotion in water and on land using unique propulsion and adjustment mechanisms.
Area of Science:
- Robotics
- Biomimetics
- Mechanical Engineering
Background:
- Existing amphibious robots often have single-mode locomotion.
- Frogs exhibit efficient amphibious locomotion.
- Need for robots with versatile movement capabilities.
Purpose of the Study:
- To develop a novel frog-inspired hybrid-driven amphibious robot.
- To enable simultaneous frog-like swimming and jumping capabilities.
- To enhance robotic locomotion in both aquatic and terrestrial environments.
Main Methods:
- Innovative hybrid actuation mechanism for dual-mode locomotion.
- Combustion-driven hindlimb propulsion and linkage-based forelimb adjustment for jumping.
- Cable-driven hindlimb mechanism and soft extension-driven webbed foot for swimming.
Main Results:
- Calculated instantaneous combustion thrust and hydrodynamic thrust.
- Derived mapping relationships for jumping performance and swimming thrust.
- Achieved swimming speed of 79 mm/s, jumping height of 560 mm, and jumping distance of 1200 mm.
Conclusions:
- The developed robot successfully demonstrates continuous amphibious locomotion.
- The hybrid-driven design enables efficient and versatile movement.
- This research advances the field of amphibious robotics.
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When the switch connecting the RL circuit is closed, a brief muscle contraction is observed. This is because, at a steady state, the inductor acts like a short circuit,...
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