Publication:
Vibration-based locomotion of an amphibious robot

dc.contributor.authorCocuzza, Silvio
dc.contributor.authorDoria, Alberto
dc.contributor.authorReis, Murat
dc.contributor.buuauthorREİS, MURAT
dc.contributor.departmentBursa Uludağ Üniversitesi/Mühendislik Fakültesi
dc.contributor.orcid0000-0001-5853-488X
dc.contributor.researcheridAAI-1786-2019
dc.date.accessioned2024-06-13T08:17:12Z
dc.date.available2024-06-13T08:17:12Z
dc.date.issued2021-03-01
dc.description.abstractIn 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.
dc.description.sponsorshipUniversity of Padova
dc.identifier.doi10.3390/app11052212
dc.identifier.eissn2076-3417
dc.identifier.issue5
dc.identifier.urihttps://doi.org/10.3390/app11052212
dc.identifier.urihttps://www.mdpi.com/2076-3417/11/5/2212
dc.identifier.urihttps://hdl.handle.net/11452/42132
dc.identifier.volume11
dc.identifier.wos000627992700001
dc.indexed.wosWOS.SCI
dc.language.isoen
dc.publisherMDPI
dc.relation.journalApplied Sciences-basel
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subjectLegged robot
dc.subjectModes of vibration
dc.subjectAmphibious robot
dc.subjectVibration-based locomotion
dc.subjectScience & technology
dc.subjectPhysical sciences
dc.subjectTechnology
dc.subjectChemistry, multidisciplinary
dc.subjectEngineering, multidisciplinary
dc.subjectMaterials science, multidisciplinary
dc.subjectPhysics, applied
dc.subjectChemistry
dc.subjectEngineering
dc.subjectMaterials science
dc.subjectPhysics
dc.titleVibration-based locomotion of an amphibious robot
dc.typeArticle
dspace.entity.typePublication
relation.isAuthorOfPublicationa6a01902-cfb5-4e7b-8402-3c39e41bbe0d
relation.isAuthorOfPublication.latestForDiscoverya6a01902-cfb5-4e7b-8402-3c39e41bbe0d

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