Amphibious Pattern Design of a Robotic Fish with Wheel‐propeller‐fin Mechanisms

He article focuses on the underwater and terrestrial locomotion aspects of an amphibious robotic fish propelled bymodular fish-like propelling units and a pair of hybridwheel-propeller-fin mechanisms. The life forms have evolved over millions of years and shaped dexterous structures and locomotion patterns, which are well adapted to underwater, terrestrial, and aerial environments. These locomotor skills can provide useful insight into the implementation of robotic tasks in unpredictable environments. Successful parameter tuning in each project indicated that the CPG-inspired nonlinear system was dynamically rich enough to generate the expected locomotor behaviors. Although swimming and crawling governed by the artificial CPGs have been extensively investigated, the generation and transition of multiple amphibious behaviors within the CPG control framework were rarely tackled.

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