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1、Proceedingsofthe2009IEEEInternationalConferenceonInformationandAutomationJune22-25,2009,Zhuhai/Macau,ChinaAnAmphibiousSnake-likeRobot:DesignandMotion*ExperimentsonGroundandinWater1,31,211ShumeiYu,ShugenMaBinLi,YuechaoWang21DepartmentofRoboticsStateKeyLaboratoryof
2、Robotics,ShenyangInstituteofFacultyofScienceandEngineeringAutomationChineseAcademyofSciencesRitsumeikanUniversityShenyang110016,ChinaShiga-ken525-8577,Japan3GraduateSchooloftheChineseAcademyofSciencesBeijing100039,Chinaysm@sia.cnshugen@se.ritsumei.ac.jplibin@sia.
3、cnycwang@sia.cnAbstract-Thispaperpresentsanamphibioussnake-likerobot’sbothonthegroundandinthewater.Atpresent,thegaitsofdesignanditsomnipotentlocomotionabilitybothonthelandACM-R5arelimitedtoterrestrialgaitsincludingserpentine,andinthewater.Thisamphibioussnake-like
4、robot,mainlylateralrollingandsidewinding[7].composedby9ModularUniversalUnits,iswaterproofandcanInthispaper,westudyterrestrialandunderwatergaitsofmovesmoothlyinthewaterwhilepressurizedwithO-ringsandanewlydevelopedamphibioussnake-likerobot.Thisrobot,otheressentiala
5、ccessories.Inthispaper,weconcentrateonthecomposedofourpreviouslyproposedModularUniversalUnitgaitdiversityoftheamphibioussnake-likerobot.Duetoitsspecialjointdesignandthefeatureofbeingdenselycoveredby(MUU)joint[9],displaysmoreflexibleperformanceinvanes,therobotisen
6、dowedwithanomnipotentabilityofmotion.Sincelandandwateraretwocompletelydifferentamphibiouslocomotion.Besidesthetraditionalfundamentalenvironments,samegaitsoftheamphibioussnake-likerobotgaits,therobotdisplaysunheard-ofgaitslikeS-shaperollingandwillnotdisplaysameapp
7、earances.Pursuingpropergaits,wehelicalrolling,whichallhaveimportantinfluencesontherobot’sstudytherobot’sbehaviorsunderseveralkindsofgaitsbothtraversingabilityandcontrolofpositionandposture.Westillonthegroundandinthewater.ThroughcomparativeuseasimplifiedSerpenoidC
8、urvetodeducethecontrolequationsexperimentsweinvestigateeachgait’sapplicabilityfortheforeachgait,buthavenewdiscoveriesongaitgenerationmethodrobot’smotiononthela
