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An experimental study of the amphibious robot inspired by biological duck foot

Kashem, Saad Bin Abul; Jawed, Shariq; Ahmed, Jubaer; Iqbal, Atif

Authors

Saad Bin Abul Kashem

Shariq Jawed

Atif Iqbal



Abstract

A lot of issues are faced in the exploration due to complexity of terrain and/or unexpected environment, due to which many places are left unmapped. The aim of this project is to design and develop an amphibious robot which uses webbed duck feet design to walk on different terrains, swim in water, and tackle obstructions in its way. Several robots are presented which can do similar task, with different walking and swimming techniques. These designs are not ideal due to their limited mobility in different terrains, and must be tackled using a single system for water and terrestrial exploration. The designed robot was compact, and had abilities to walk, swim, and detect obstruction as tested by the built prototype. This was done by designing a hinged webbed foot, which shadowed the biological design of a duck. The walking and swimming motion was conceived using the Klann linkage, which converts rotational motion to an animal's gait. The design was sufficient to sustain the load of the robot, and had a flap opening and closing mechanism to swim in water. This design could be used in small scale exploration of caves, to access areas through uneven terrains, and to tackle the presence of water during the exploration.

Presentation Conference Type Conference Paper (Published)
Conference Name 2018 IEEE 12th International Conference on Compatibility, Power Electronics and Power Engineering (CPE-POWERENG 2018)
Start Date Apr 10, 2018
End Date Apr 12, 2018
Online Publication Date Jun 7, 2018
Publication Date 2018
Deposit Date Dec 28, 2021
Publisher Institute of Electrical and Electronics Engineers
Series ISSN 2166-9546
Book Title 2018 IEEE 12th International Conference on Compatibility, Power Electronics and Power Engineering (CPE-POWERENG 2018)
ISBN 1538625083
DOI https://doi.org/10.1109/CPE.2018.8372507
Keywords Robot, amphibious robot, quadruped robot, walking robot, climbing robot, autonomous, duck feet, webbed feet, Klann linakge, arduino
Public URL http://researchrepository.napier.ac.uk/Output/2823323