Dynamic Modelling and Optimized Energy Distribution of Amphibian Walking Robot

摘要

The development of an amphibian crab-like 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 near the sea and tideland where common soldiers can not complete the mission. The research object is to set up dynamic modeling, the least distribution model of driving moment and driving energy of the amphibian crab-like robot by using parallel theory. Based on dynamic analysis, an optimized energy distribution model was achieved. The conclusions have very important effects to the control of robots