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Design and implementation of a quadruped amphibious robot using duck feet

Kashem, Saad Bin Abul; Jawed, Shariq; Ahmed, Jubaer; Qidwai, Uvais


Saad Bin Abul Kashem

Shariq Jawed

Uvais Qidwai


Roaming complexity in terrains and unexpected environments pose significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration, namely, walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates a webbed duck feet design to walk on different terrains, swim in the water, and tackle obstructions on its way. The designed robot is compact, easy to use, and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Because of the design, the webbed feet are able to open and close with the help of water pressure. Klann linkages have been used to convert rotational motion to walking and swimming for the animal’s gait. Because of its amphibian nature, the designed robot can be used for exploring tight caves, closed spaces, and moving on uneven challenging terrains such as sand, mud, or water. It is envisaged that the proposed design will be appreciated in the industry to design amphibious robots in the near future.


Kashem, S. B. A., Jawed, S., Ahmed, J., & Qidwai, U. (2019). Design and implementation of a quadruped amphibious robot using duck feet. Robotics, 8(3), Article 77.

Journal Article Type Article
Acceptance Date Aug 27, 2019
Online Publication Date Sep 5, 2019
Publication Date 2019
Deposit Date Dec 28, 2021
Publicly Available Date Jan 5, 2022
Journal Robotics
Publisher MDPI
Peer Reviewed Peer Reviewed
Volume 8
Issue 3
Article Number 77
Keywords amphibious robot; duck feet; quadruped; Klann linkage; webbed feet
Public URL


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