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Microsystem Technologies

, Volume 25, Issue 12, pp 4483–4494 | Cite as

Performance evaluation of spherical robot for amphibious applications

  • Yanlin He
  • Xu Zhang
  • Mingli DongEmail author
  • Guangkai Sun
  • Mingxin Yu
  • Lianqing ZhuEmail author
Technical Paper
  • 113 Downloads

Abstract

Aiming at exploration tasks in complex amphibious environments, our previous researches proposed and developed an amphibious spherical robot, and the robot is capable of motion on land and swim in underwater. In this paper, focus on robotic applications on various terrains of amphibious robot, three quadruped gaits and an adaptive control method were designed, implemented and evaluated for our amphibious spherical robot. Firstly, a simplified locomotion model of the amphibious spherical robot was established, and three types of on-land locomotion gait were designed for the robot, then the adopted gait was adaptively adjusted with attitude compensation of robot. And simultaneously, an adaptive control algorithm was designed to control the amphibious spherical robot in underwater environment, which has good robustness and adaptability of disturbances in underwater environment. Finally, some amphibious evaluation experiments on robotic on-land and underwater motion performance indicated that the amphibious spherical robot was capable of moving stably on-land and in underwater environments, which enhanced its mobility and viability.

Notes

Acknowledgements

This work is supported by Research Project of Beijing Education Committee (KM201911232005), This work is also supported by the National Science Foundation support projects, China, under Contract Number 61805017. This research project was also partly supported by the Program for Changjiang Scholars and Innovative Research Team in University (No. IRT_16R07), the Importation and Development of High-Caliber Talents Project of Beijing Municipal Institutions (No. IDHT20170510).

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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Beijing Key Laboratory of Optoelectronic Measurement TechnologyBeijing Information Science and Technology UniversityBeijingPeople’s Republic of China
  2. 2.Beijing Laboratory of Optical Fiber Sensing and SystemBeijing Information Science and Technology UniversityBeijingPeople’s Republic of China
  3. 3.Bionic and Intelligent Equipment LabBeijing Information Science and Technology UniversityBeijingPeople’s Republic of China

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