1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049
Abstract：The wheel-propeller-leg integrated amphibious robot is presented as a new type of robot,which can crawl on land and swim underwater in certain depth or creep on ocean floor.The multi-locomotion modes and compound mobile mechanism are the main traits of the amphibious robot.The motion principle of the wheel-propeller-leg integrated driving mechanism is analyzed,and the multi-objective optimization theory and algorithm are adopted to comprehensively optimize the driving performance of both crawl and swim.As a result,the optimized parameters of the driving mechanism are obtained. Simulation results from the virtual prototype prove that the wheel-propeller-leg integrated driving mechanism is endowed with good performance in the comprehensive locomotion and enables the amphibious robot to be adaptive to unstructured environment to a certain extent.
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