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Design And Development of Amphibious Robot With Fin Actuators

Aiming at the automatic monitoring of environments along natural coastal areas and tidal flats, we designed and developed an amphibious robot equipped with fin actuators mimicking the locomotion of tortoises and sea turtles. We adopted the advantages of these 2 creatures in a robotic turtle, namely, the lift-based swimming mode that sea turtles use and the quadrupedal locomotion tortoises use. The present amphibious robot consists of 4 main components: leg units; a control unit pressure hull; a buoyancy adjusting device; and a fairing cover. To realize not only 3 types of swimming motion, but also the tortoise-like walking motion, we set up 3 motors at the acromioclavicular joint using a differential gear mechanism to independently produce the flapping motion, rowing motion and feathering motion, and one motor to produce elbow joint motion. A buoyancy adjusting device was installed to realize walking on land and in water, and swimming in shallow water with breaking waves.