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      Miniature Amphibious Robot Actuated by Rigid‐Flexible Hybrid Vibration Modules

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          Abstract

          Amphibious robots can undertake various tasks in terrestrial and aquatic environments for their superior environmental compatibility. However, the existing amphibious robots usually utilize multi‐locomotion systems with transmission mechanisms, leading to complex and bulky structures. Here, a miniature amphibious robot based on vibration‐driven locomotion mechanism is developed. The robot has two unique rigid‐flexible hybrid modules (RFH‐modules), in which a soft foot and a flexible fin are arranged on a rigid leg to conduct vibrations from an eccentric motor to the environment. Then, it can run on ground with the soft foot adopting the friction locomotion mechanism and swim on water with the flexible fin utilizing the vibration‐induced flow mechanism. The robot is untethered with a compact size of 75 × 95 × 21 mm 3 and a small weight of 35 g owing to no transmission mechanism or joints. It realizes the maximum speed of 815 mm s –1 on ground and 171 mm s –1 on water. The robot, actuated by the RFH‐modules based on vibration‐driven locomotion mechanism, exhibits the merits of miniature structure and fast movements, indicating its great potential for applications in narrow amphibious environments.

          Abstract

          A miniature amphibious robot actuated by dual rigid‐flexible hybrid modules is developed. It adopts the vibration‐driven mechanism for amphibious motion, with running motion by the friction locomotion mechanism and swimming motion by the vibration‐induced flow mechanism. The robot achieves a compact size with the integration of control system for no transmission mechanisms.

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          Most cited references12

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          2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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            2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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              2018 IEEE International Conference on Real‐Time Computing and Robotics (RCAR)

              J Zhu, T FANG, M XU (2018)
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                Author and article information

                Contributors
                liuyingxiang868@hit.edu.cn
                jzhao@hit.edu.cn
                Journal
                Adv Sci (Weinh)
                Adv Sci (Weinh)
                10.1002/(ISSN)2198-3844
                ADVS
                Advanced Science
                John Wiley and Sons Inc. (Hoboken )
                2198-3844
                18 August 2022
                October 2022
                : 9
                : 29 ( doiID: 10.1002/advs.v9.29 )
                : 2203054
                Affiliations
                [ 1 ] State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China
                Author notes
                Author information
                https://orcid.org/0000-0001-5684-9159
                Article
                ADVS4427
                10.1002/advs.202203054
                9561757
                35981889
                d5cc3374-abd5-422e-ac55-978d100636a5
                © 2022 The Authors. Advanced Science published by Wiley‐VCH GmbH

                This is an open access article under the terms of the http://creativecommons.org/licenses/by/4.0/ License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.

                History
                : 24 July 2022
                : 24 May 2022
                Page count
                Figures: 8, Tables: 0, Pages: 12, Words: 7456
                Funding
                Funded by: National Natural Science Foundation of China , doi 10.13039/501100001809;
                Award ID: U1913215
                Award ID: 5210051275
                Funded by: Interdisciplinary Research Foundation
                Award ID: IR2021233
                Categories
                Research Article
                Research Articles
                Custom metadata
                2.0
                October 14, 2022
                Converter:WILEY_ML3GV2_TO_JATSPMC version:6.2.0 mode:remove_FC converted:14.10.2022

                amphibious robot,friction locomotion,rigid‐flexible hybrid module,vibration‐induced flow

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