Design, Implementation and Control of an Amphibious Spherical Robot

We proposed and implemented a leg-vector water-jet actuated spherical robot and an underwater adaptive motion control system so that the proposed robot could perform exploration tasks in complex environments. Our aim was to improve the kinematic performance of spherical robots. We developed mechanic...

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Bibliographic Details

Published in:	Journal of bionics engineering Vol. 19; no. 6; pp. 1736 - 1757
Main Authors:	Shi, Liwei, Zhang, Zhongyin, Li, Zhengyu, Guo, Shuxiang, Pan, Shaowu, Bao, Pengxiao, Duan, Lijie
Format:	Journal Article
Language:	English
Published:	Singapore Springer Nature Singapore 01.11.2022
Subjects:	Artificial Intelligence Biochemical Engineering Bioinformatics Biomaterials Biomedical Engineering and Bioengineering Biomedical Engineering/Biotechnology Engineering Research Article Generalized prediction control Bionic amphibious spherical robot Inertial measurement unit Forgetting factor least squares algorithm Quadruped gaits
ISSN:	1672-6529, 2543-2141
Online Access:	Get full text
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