Vibration-Based Locomotion of an Amphibious Robot
In this research, an innovative robot is presented that can move both on land and water thanks to a vibration-based locomotion mechanism. The robot consists of a U-shaped beam made of spring steel, two low-density feet that allow it to stand on the water surface without sinking, and a micro-DC motor...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-03-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/5/2212 |
| _version_ | 1797415471980478464 |
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| author | Silvio Cocuzza Alberto Doria Murat Reis |
| author_facet | Silvio Cocuzza Alberto Doria Murat Reis |
| author_sort | Silvio Cocuzza |
| collection | DOAJ |
| description | In this research, an innovative robot is presented that can move both on land and water thanks to a vibration-based locomotion mechanism. The robot consists of a U-shaped beam made of spring steel, two low-density feet that allow it to stand on the water surface without sinking, and a micro-DC motor with eccentric mass, which excites vibrations. The robot exhibits stable terrestrial and aquatic locomotion based on the synchronization between body vibrations and the centrifugal force due to the eccentric mass. On the one hand, in aquatic locomotion, the robot advances thanks to floating oscillations and the asymmetric shape of the floating feet. On the other hand, the terrestrial locomotion, which has already been demonstrated for a similar robot, exploits the modes of vibration of the elastic beam. In this study, the effect of different excitation frequencies on the locomotion speed in water is examined by means of experimental tests and a numerical model. A good agreement between experimental and numerical results is found. The maximum locomotion speed takes place when the floating modes of vibration are excited. |
| first_indexed | 2024-03-09T05:49:05Z |
| format | Article |
| id | doaj.art-5fd28c00304f4c06821356c955dce2d0 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T05:49:05Z |
| publishDate | 2021-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-5fd28c00304f4c06821356c955dce2d02023-12-03T12:18:26ZengMDPI AGApplied Sciences2076-34172021-03-01115221210.3390/app11052212Vibration-Based Locomotion of an Amphibious RobotSilvio Cocuzza0Alberto Doria1Murat Reis2Department of Industrial Engineering, University of Padova, 35131 Padova, ItalyDepartment of Industrial Engineering, University of Padova, 35131 Padova, ItalyFaculty of Engineering, Bursa Uludag University, Bursa 16059, TurkeyIn this research, an innovative robot is presented that can move both on land and water thanks to a vibration-based locomotion mechanism. The robot consists of a U-shaped beam made of spring steel, two low-density feet that allow it to stand on the water surface without sinking, and a micro-DC motor with eccentric mass, which excites vibrations. The robot exhibits stable terrestrial and aquatic locomotion based on the synchronization between body vibrations and the centrifugal force due to the eccentric mass. On the one hand, in aquatic locomotion, the robot advances thanks to floating oscillations and the asymmetric shape of the floating feet. On the other hand, the terrestrial locomotion, which has already been demonstrated for a similar robot, exploits the modes of vibration of the elastic beam. In this study, the effect of different excitation frequencies on the locomotion speed in water is examined by means of experimental tests and a numerical model. A good agreement between experimental and numerical results is found. The maximum locomotion speed takes place when the floating modes of vibration are excited.https://www.mdpi.com/2076-3417/11/5/2212legged robotmodes of vibrationamphibious robotvibration-based locomotion |
| spellingShingle | Silvio Cocuzza Alberto Doria Murat Reis Vibration-Based Locomotion of an Amphibious Robot Applied Sciences legged robot modes of vibration amphibious robot vibration-based locomotion |
| title | Vibration-Based Locomotion of an Amphibious Robot |
| title_full | Vibration-Based Locomotion of an Amphibious Robot |
| title_fullStr | Vibration-Based Locomotion of an Amphibious Robot |
| title_full_unstemmed | Vibration-Based Locomotion of an Amphibious Robot |
| title_short | Vibration-Based Locomotion of an Amphibious Robot |
| title_sort | vibration based locomotion of an amphibious robot |
| topic | legged robot modes of vibration amphibious robot vibration-based locomotion |
| url | https://www.mdpi.com/2076-3417/11/5/2212 |
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