Paper Title:
Dynamic Modeling and Optimized Energy Distribution of a Novel Amphibian Legged Robot
  Abstract

The development of a novel amphibian walking robot prototype is proposed according to the need of duty under bad circumstance. It can be used as the carrier of the reconnaissance equipment, the weapon system and the communication system, and complete many kinds of missions in the place near the sea and tideland which a man can not complete. Some new dynamics questions is introduced because of multi-leg structure features and functionality of the amphibious. The integrated approach of series parallel is proposed to solve the characteristic that swing and supporting phase are appeared respectively during walking. Hydrodynamic effect is also considered in our dynamics equation. At last, the least distribution model of driving moment and driving energy of robot are set up in this paper. These conclusions have very important effects to the control of robots.

  Info
Periodical
Key Engineering Materials (Volumes 392-394)
Edited by
Guanglin Wang, Huifeng Wang and Jun Liu
Pages
223-228
DOI
10.4028/www.scientific.net/KEM.392-394.223
Citation
M.N. Wang, C. Chen, "Dynamic Modeling and Optimized Energy Distribution of a Novel Amphibian Legged Robot ", Key Engineering Materials, Vols. 392-394, pp. 223-228, 2009
Online since
October 2008
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