Virtual prototype-based kinematic modeling and simulation of a multi-mode amphibious robot

The amphibious robot, which has the capability of multi-mode motion, can maneuver diverse environments with high mobility and adaptability. These are employed in the area of reconnaissance, search and rescue operations, and monitoring. The existing amphibious robots have lower maneuverability over the crawling period on uneven and slope surfaces on the land. In this paper, a kinematic model of the amphibious robot based on virtual prototyping is designed for multi-mode locomotion. ADAMS (Automated dynamic analysis of mechanical systems) is a multi-body dynamic solver adopted to build the simulation model for the robot. The novel amphibious robot employs a Rockerbogie mechanism equipped with wheel paddles. The locomotion analysis on land involves straight-going and obstacle negotiation, which is simulated using ADAMS. The simulation analysis result demonstrates increased maneuverability, achieving a robot's velocity of robot 1.6 m/s. Normal forces on the front and rear wheels show equal load distribution, contributing more to the robot’s equilibrium over uneven terrain. The simulation result reflects the accurate kinematic characteristics of the amphibious robot and provides a theoretical basis for developing an algorithm for robot motion control and optimization. Further, this research will concentrate on the kinematic simulation maneuvering in water mode with the wheel paddle

Gait identification and optimisation for amphi-underwater robot by using ant colony algorithm

Manoeuvrable robot commonly has become the focus of the latest heated issues especially in applications that involved disaster rescue, military missions and underwater or extra-terrestrial explorations. Currently, the manoeuvrable robot is controlled manually by the operator and it’s a wheeled type. It is used for rescue missions to transport people from disaster area to the safe zone. However, the robot is incapable of moving automatically, and it goes through terrain or landscape like swarm. Therefore, a suitable platform is required to transport or for other uses especially in dangerous mission. It is very difficult to estimate the movement of the robot to avoid obstacles and choose the alternative path. Hence, this research presents the point-to-point gait identification or path planning of the behavious of the robot to manuever autonomously on both on-land and underwater environment. For the optimization, the robot will travel from one specific point to another with the predefined position within optimized gait and fastest time by using Ant Colony Optimization (ACO) technique. The algorithm being compared, between Ant Colony Algorithm (ACO) and the Particle Swarm Optimisation (PSO) in terms of time and distance. The ACO been chosen because of the positive feedback for rapid discovery and able to use in dynamic applications for example adapts to changes like new distances. The performance of the algorithm showed that the execution time of ACO is more realistic. Hence, Matlab is used to determine the best cost extracted from the ACO with the pre-define of number of iteration and the number of ants. The laboratory-scaled prototype for amphibious vehicle was developed to test the design controlled with ACO technique where Global Positioning System (GPS) is used for the coordination of the robot and Magnetometer for the position of the robot. The robot prototype is able to move autonomously and optimized by the ant colony optimization with predefined position and terrain condition © BEIESP

LeggedWalking on Inclined Surfaces

The main contribution of this MS Thesis is centered around taking steps towards successful multi-modal demonstrations using Northeastern's legged-aerial robot, Husky Carbon. This work discusses the challenges involved in achieving multi-modal locomotion such as trotting-hovering and thruster-assisted incline walking and reports progress made towards overcoming these challenges. Animals like birds use a combination of legged and aerial mobility, as seen in Chukars' wing-assisted incline running (WAIR), to achieve multi-modal locomotion. Chukars use forces generated by their flapping wings to manipulate ground contact forces and traverse steep slopes and overhangs. Husky's design takes inspiration from birds such as Chukars. This MS thesis presentation outlines the mechanical and electrical details of Husky's legged and aerial units. The thesis presents simulated incline walking using a high-fidelity model of the Husky Carbon over steep slopes of up to 45 degrees.Comment: Masters thesi

Locomation strategies for amphibious robots-a review

In the past two decades, unmanned amphibious robots have proven the most promising and efficient systems ranging from scientific, military, and commercial applications. The applications like monitoring, surveillance, reconnaissance, and military combat operations require platforms to maneuver on challenging, complex, rugged terrains and diverse environments. The recent technological advancements and development in aquatic robotics and mobile robotics have facilitated a more agile, robust, and efficient amphibious robots maneuvering in multiple environments and various terrain profiles. Amphibious robot locomotion inspired by nature, such as amphibians, offers augmented flexibility, improved adaptability, and higher mobility over terrestrial, aquatic, and aerial mediums. In this review, amphibious robots' locomotion mechanism designed and developed previously are consolidated, systematically The review also analyzes the literature on amphibious robot highlighting the limitations, open research areas, recent key development in this research field. Further development and contributions to amphibious robot locomotion, actuation, and control can be utilized to perform specific missions in sophisticated environments, where tasks are unsafe or hardly feasible for the divers or traditional aquatic and terrestrial robots

Design of Compliance Assisted Gaits for a Quadrupedal Amphibious Robot

The goal of this thesis was to develop an amphibious legged quadrupedal robot and associated gaits. Gaits of interest included walking, swimming, and smoothly transitioning between the two. Compliance was employed in the robot's legs to achieve swimming. Various types and configurations of compliant legs were evaluated using physical experiments and simulation. Three primary, two secondary, and two transition gaits were developed. An algorithm was developed to determine the appropriate course of action based on the current gait performance and the desired performance. The robot developed in this thesis met the goals of the design and demonstrated the technical feasibility of using compliance in amphibious legged robots

Development of a Novel Amphibious Locomotion System for use in Intra-Luminal Surgical Procedures

Colonoscopy is widely considered the gold standard for inspection of the colon. The procedure is however not without issue, current colonoscopes have seen little change or innovation throughout their 40 years of use with patient discomfort still limiting success. The aim of this PhD study was to develop a locomotion system for use on a robotic device that can traverse a liquid filled colon for atraumatic inspection and biopsy tasks. The PhD was undertaken as part of a larger two-centre EU project, which aimed to bring about a change in the way colonoscopy is done by moving to “robotic hydro-colonoscopy”. In this thesis the initial development and testing of an amphibious locomotion concept for use in a procedure known as hydro-colonoscopy is described. The locomotion system is comprised of four Archimedes’ screws arranged in two counter-rotating pairs. These aim to provide propulsion through a fluid-filled colon as well as provide locomotive traction against colonic tissue in partially fluid-filled or collapsed sections of the colon, such as the splenic flexure. Experimental studies were carried out on a single screw system in fluid and dual counter-rotating screws in contact conditions. These show the system’s ability to generate thrust in the two discrete modes of locomotion of the amphibious system. A 2:1 scale prototype of the proposed device was produced and features compliant screw threads to provide atraumatic locomotion. The scale prototype device was tested in ex-vivo porcine colon. The developed system was able to traverse through lumen to limited success, which demonstrated that this concept has the potential for use on an intra-luminal robotic device The key contributions of this research are: variable geometry locomotion system; amphibious locomotion using Archimedes’ screws; experimental assessment of the locomotion in fluid, contact and amphibious states; and analysis of the contact dynamics against tissue

An overview of waste materials for sustainable road construction

Untreated soil typically has low shear strength, swelling behavior, high compressibility and its characteristics were highly dependent on the environment. In general, such problematic soil will lead to severe damages in road construction industry such as bearing capacity failure, slope instability, and excessive settlement. Agricultural waste, construction waste, and municipal waste have recently gained considerable attention as a sustainable material in road construction application due to its availability, environmental friendly and low-cost materials. Therefore in this review, randomly distributed fiber reinforced soil and oriented distributed fiber reinforced soil will be extensively discussed based on the emerging trend. It further reviewed the feasibility of using waste materials as a reinforcement material for the road construction industry. The review also attempts to evaluate and compare the engineering properties of soil and sustainable materials in order to enhance soil performance as well as help to improve the environment affected by growing waste materials

Climbing and Walking Robots

With the advancement of technology, new exciting approaches enable us to render mobile robotic systems more versatile, robust and cost-efficient. Some researchers combine climbing and walking techniques with a modular approach, a reconfigurable approach, or a swarm approach to realize novel prototypes as flexible mobile robotic platforms featuring all necessary locomotion capabilities. The purpose of this book is to provide an overview of the latest wide-range achievements in climbing and walking robotic technology to researchers, scientists, and engineers throughout the world. Different aspects including control simulation, locomotion realization, methodology, and system integration are presented from the scientific and from the technical point of view. This book consists of two main parts, one dealing with walking robots, the second with climbing robots. The content is also grouped by theoretical research and applicative realization. Every chapter offers a considerable amount of interesting and useful information