王立权, 刘德峰, 陈东良, 邓辉峰, 季宝锋, 王刚. 两栖多足机器人水下步态分析[J]. 机器人, 2008, 30(4): 333-339..
WANG Li-quan, LIU De-feng, CHEN Dong-liang, DENG Hui-feng, JI Bao-feng, WANG Gang. Analysis on Underwater Gait of Amphibious Multi-legged Robot. ROBOT, 2008, 30(4): 333-339..
Abstract：Based on the movement mechanism of amphibians and the characteristics of underwater walking of the amphibious multi-legged robot,a dynamic model in lenitic water is produced by reducing the weight and adding liquid forces,and through the analysis of the model,the "hoof-?oating" gait is proposed for underwater walking of the amphibious multi-legged robot.The gait not only resolves the problems of slippage and instability which arise when the amphibious multi-legged robot walks in underwater conditions with the land gait,but also raises the walking speed.The underwater walking experiment results of the amphibious multi-legged robot verify the feasibility of the proposed gait.
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