FLHex: a flapped-paddle hexapod for all-terrain amphibious locomotion

• Autorzy: Burzyński Piotr , Simha Ashutosh , Kotta Ülle , Pawluszewicz Ewa , Sastry Shivakumar

Identyfikatory

DOI

10.24425/bpasts.2021.139007

• Języki publikacji: EN

Abstrakty

EN

This paper presents the design of a versatile mechanism that can enable new directions in amphibious, all-terrain locomotion. The simple, passive, flapped-paddle can be integrated with several structures that are well-suited for locomotion in terrestrial applications. The flapped-paddle overcomes a serious limitation of the conventional flipper where the net lateral forces generated during oscillatory motion in aquatic environments averages out to zero. The flapped-paddle and its mounting, collectively, rests in natural positions in the aquatic environment so as to maximize hydrodynamic force utilization and consequently the propulsive efficiency. The simplicity of the design enabled us to develop a simulation model that concurs well with experimental results. The results reported in the paper are based on integrating the flapped-paddle with the curved leg of the RHex hexapod robot.

Słowa kluczowe

EN

biologically-inspired robots; amphibious robotics; mechanism design

PL

biologicznie inspirowany robot; roboty pływające; projektowanie mechanizmu

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2021
• Tom: Vol. 69, nr 6
• Strony: art. no. e139007
• Opis fizyczny: Bibliogr. 36 poz., tab., il., wykr., fot.

Twórcy

autor

Burzyński Piotr

• Bialystok University of Technology, Department of Robotics and Mechatronics, ul. Wiejska 45C, 15-351 Bialystok, Poland

autor

Simha Ashutosh

• School of Information Technologies, Department of Software Science, Tallinn University of Technology, 12618 Tallinn, Estonia

autor

Kotta Ülle

• School of Information Technologies, Department of Software Science, Tallinn University of Technology, 12618 Tallinn, Estonia

autor

Pawluszewicz Ewa

• Bialystok University of Technology, Department of Robotics and Mechatronics, ul. Wiejska 45C, 15-351 Bialystok, Poland

autor

Sastry Shivakumar

• University of Akron, Department of Electrical and Computer Engineering, Akron, Ohio 44325, USA

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).