Design and Simulation of a Cormorant-inspired Amphibious Robot

Abstract

Inspired by the body structure and movement of cormorants, this paper proposed an innovative cormorant-inspired amphibious robot using a double parallel rod structure of legs, which can swim in water and walk on land. The legs of robotic cormorants are their primary source of propulsion, and the wire-driven webbed feet can constrict in water to increase the effectiveness of propulsion. According to the robot cormorant’s structure, the kinematics model is established. With the model, we designed the robot cormorant’s walking and swimming gaits. ROS/Gazebo Simulation verified the viability of the model and gait. The research will guide the robot prototype design and its motion control.