Vibration-Based Locomotion of an Amphibious Robot

摘要

In this research, an innovative robot is presented that can move both on land and water thanks to a vibration-based locomotion mechanism. The robot consists of a U-shaped beam made of spring steel, two low-density feet that allow it to stand on the water surface without sinking, and a micro-DC motor with eccentric mass, which excites vibrations. The robot exhibits stable terrestrial and aquatic locomotion based on the synchronization between body vibrations and the centrifugal force due to the eccentric mass. On the one hand, in aquatic locomotion, the robot advances thanks to floating oscillations and the asymmetric shape of the floating feet. On the other hand, the terrestrial locomotion, which has already been demonstrated for a similar robot, exploits the modes of vibration of the elastic beam. In this study, the effect of different excitation frequencies on the locomotion speed in water is examined by means of experimental tests and a numerical model. A good agreement between experimental and numerical results is found. The maximum locomotion speed takes place when the floating modes of vibration are excited.