Motion Planning and Simulation of Combined Land-Air Amphibious Robot

3rd International Conference on Automation, Control and Robotics Engineering

工业技术;计算机科学;无线电电子学

Li, Kailin^1 ; Han, Baoling^1 ; Zhao, Yuting^1 ; Zhu, Chen^1

School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China^1

关键词: Amphibious robot;    Combined operations;    Disaster rescue;    Field investigation;    Legged walking robot;    Operational requirements;    Quadruped walking robot;    Structural separations;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/428/1/012057/pdf
DOI  :  10.1088/1757-899X/428/1/012057

来源: IOP

【 摘 要 】

In order to carry out complex tasks such as disaster rescue and field investigation, this paper designs a land-air amphibious robot that combines the four-legged walking robot and the quadrotor. The robot can not only perform structural separation according to operational requirements in order to realize land and air multi-field investigations. At the same time, the quadrotor can fly freely on the quadruped walking robot body to perform combined operations, providing more possibilities for multi-purpose investigation. The foot trajectory of the four-legged walking robot adopts the Bezier curve, and the center of the robot body is planned to move in a straight line, which can ensure the fluency, stability, and flexibility of the walking motion of the robot. The results of simulation and verification show that the combined land-air amphibious robot has excellent sport characteristics and has popularization and application value.