Design of an Autonomous Amphibious Robot for Surf Zone Operations: Part II - Simulation, Control, and Hardware Implementation
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Authors
Harkins, Richard
Ward, Jason
Vaidynathan, Ravi
Boxerbaum, Alexander S.
Quinn, Roger D.
Subjects
Biologically inspired robotics
legged vehicles
micro-robots
reduced actuation
legged vehicles
micro-robots
reduced actuation
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Date of Issue
2005
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Abstract
This paper describes on-going work at The Naval Postgraduate School (NPS) and Case Western Reserve University (CWRU) to create an autonomous highly mobile amphibious robot. A first generation land-based prototype has been constructed and field tested. This robot design, based on a tracked element, is capable of autonomous waypoint navigation, self-orientation, obstacle avoidance, and has the capacity to transmit sensor (visual) feedback. A water-resistant second generation amphibious prototype design, based around the biologically inspired Whegs(TM) platform, has been completed. This design marries the unprecedented mobility of Whegs(TM) with the autonomous hardware and control architectures implemented in the first generation prototype. Furthermore, we have also implemented a dynamic simulation capturing salient features of Whegs(TM) for testing of robotic locomotion capabilities. The integration of these elements will lay the foundation for the development of a new generation of highly mobile autonomous amphibious robots.
Type
Conference Paper
Description
2005 Advanced Intelligent Mechatronics (AIM) Conference, July 2005
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Citation
Harkins, R., Vaidynathan, R., Quinn, R.D., Boxerbaum, A., Ward, J.L., “Design of an Autonomous Amphibious Robot for Surf Zone Operations: Part II - Simulation, Control, and Hardware Implementation” 2005 Advanced Intelligent Mechatronics (AIM) Conference, July 2005
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.