Structural and Kinematic Analysis of an Amphibious Crab-Like Robot for Nearshore Environmental Applications

摘要

This paper investigates the key design parameters such as body aspect ratio, leg structure proportions, and the ratio of body width to overall width of an amphibious crab-like robot tailored for operations in seabed and near sidewall narrow environments. On this basis, the walking leg posture which is easy to sense the environment and the standing leg posture which is high stability are designed, and the foot landing points of the robot in the surf zone have also been optimized.