Development and gait analysis of five-bar mechanism implemented quadruped amphibious robot

Fayi Luo; Guangming Xie; Qining Wang; Long Wang

doi:10.1109/AIM.2010.5695787

Development and gait analysis of five-bar mechanism implemented quadruped amphibious robot

Fayi Luo
, Guangming Xie
, Qining Wang
, Long Wang

Peking University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

7 引用（Scopus）

摘要

This paper presents the development and gait analysis of a quadruped amphibious robot. The proposed amphibious robot uses the five-bar mechanism to construct the flipper-leg to achieve terrestrial gaits and swimming gaits. We introduce a detailed model of five-bar mechanism to analysis the input and the output of the leg system. The leg trajectories of the robot during walking and swimming are analyzed. The experimental results show that since the implementation of the five-bar mechanism, the robot can easily adapt to different environments.

源语言	英语
主期刊名	2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
页	633-638
页数	6
DOI	https://doi.org/10.1109/AIM.2010.5695787
出版状态	已出版 - 2010
已对外发布	是
活动	2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010 - Montreal, QC, 加拿大期限: 6 7月 2010 → 9 7月 2010

出版系列

姓名	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

会议

会议	2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
国家/地区	加拿大
市	Montreal, QC
时期	6/07/10 → 9/07/10

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10.1109/AIM.2010.5695787

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链接到 Scopus 的出版物

引用此

Luo, F., Xie, G., Wang, Q., & Wang, L. (2010). Development and gait analysis of five-bar mechanism implemented quadruped amphibious robot. 在 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010 (页码 633-638). 文章 5695787 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2010.5695787

@inproceedings{a88b1a3e840342c0aa77fc51e05f312e,

title = "Development and gait analysis of five-bar mechanism implemented quadruped amphibious robot",

abstract = "This paper presents the development and gait analysis of a quadruped amphibious robot. The proposed amphibious robot uses the five-bar mechanism to construct the flipper-leg to achieve terrestrial gaits and swimming gaits. We introduce a detailed model of five-bar mechanism to analysis the input and the output of the leg system. The leg trajectories of the robot during walking and swimming are analyzed. The experimental results show that since the implementation of the five-bar mechanism, the robot can easily adapt to different environments.",

author = "Fayi Luo and Guangming Xie and Qining Wang and Long Wang",

year = "2010",

doi = "10.1109/AIM.2010.5695787",

language = "英语",

isbn = "9781424480319",

series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

pages = "633--638",

booktitle = "2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010",

note = "2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010 ; Conference date: 06-07-2010 Through 09-07-2010",

}

Luo, F, Xie, G, Wang, Q & Wang, L 2010, Development and gait analysis of five-bar mechanism implemented quadruped amphibious robot. 在 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010., 5695787, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 页码 633-638, 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010, Montreal, QC, 加拿大, 6/07/10. https://doi.org/10.1109/AIM.2010.5695787

Development and gait analysis of five-bar mechanism implemented quadruped amphibious robot. / Luo, Fayi; Xie, Guangming; Wang, Qining 等.
2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010. 2010. 页码 633-638 5695787 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Development and gait analysis of five-bar mechanism implemented quadruped amphibious robot

AU - Luo, Fayi

AU - Xie, Guangming

AU - Wang, Qining

AU - Wang, Long

PY - 2010

Y1 - 2010

N2 - This paper presents the development and gait analysis of a quadruped amphibious robot. The proposed amphibious robot uses the five-bar mechanism to construct the flipper-leg to achieve terrestrial gaits and swimming gaits. We introduce a detailed model of five-bar mechanism to analysis the input and the output of the leg system. The leg trajectories of the robot during walking and swimming are analyzed. The experimental results show that since the implementation of the five-bar mechanism, the robot can easily adapt to different environments.

AB - This paper presents the development and gait analysis of a quadruped amphibious robot. The proposed amphibious robot uses the five-bar mechanism to construct the flipper-leg to achieve terrestrial gaits and swimming gaits. We introduce a detailed model of five-bar mechanism to analysis the input and the output of the leg system. The leg trajectories of the robot during walking and swimming are analyzed. The experimental results show that since the implementation of the five-bar mechanism, the robot can easily adapt to different environments.

UR - https://www.scopus.com/pages/publications/79951643623

U2 - 10.1109/AIM.2010.5695787

DO - 10.1109/AIM.2010.5695787

M3 - 会议稿件

AN - SCOPUS:79951643623

SN - 9781424480319

T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

SP - 633

EP - 638

BT - 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010

T2 - 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010

Y2 - 6 July 2010 through 9 July 2010

ER -

Development and gait analysis of five-bar mechanism implemented quadruped amphibious robot

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