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Multi-functional bio-inspired leg for underwater robots
- Issue Date
- 2014
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Citation
- IEEE International Conference on Intelligent Robots and Systems, pp 1087 - 1092
- Pages
- 6
- Journal Title
- IEEE International Conference on Intelligent Robots and Systems
- Start Page
- 1087
- End Page
- 1092
- ISSN
- 2153-0858
- Abstract
- This paper mainly focused on proposing a multi-functional leg for a six-legged underwater robot inspired by diving beetles(D.BeeBot). In order to make the robot have abilities both walking and swimming, one of legs is designed in advance by adopting structural advantages that the diving beetle has for efficient swimming. Trajectories of the leg employ various biomimetic motions produced by SPG(swimming pattern generator), setting simple control parameters. Performances of the leg are verified by measuring drag force by a force/torque sensor through underwater experiments. In the paper, swimming mechanism is mainly concerned for this time. Consequently, we proved the validity of designing consideration for the multi-functional leg. ？ 2014 IEEE.
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