Title :
Designing diving beetle inspired underwater robot(D.BeeBot)
Author :
Hee Joong Kim ; Jihong Lee
Author_Institution :
Dept. of Mechatron. Eng., Chungnam Nat. Univ., Daejeon, South Korea
Abstract :
In the paper, designing process of a walking and swimming legged underwater robot is proposed. The robot has been inspired by diving beetles. To maximize swimming ability of the robot, the structural analysis of the diving beetle´s leg has been conducted. The final model of the robot designed by AutoCAD(2D and 3D computer aided design) is presented based on employing structural advantages which diving beetles have. Additionally, underwater experiments with the designed robot leg has been implemented. Bio-mimicking swimming locomotion was applied to the robot leg during the experiments.
Keywords :
biomimetics; control system CAD; legged locomotion; underwater vehicles; AutoCAD; D.BeeBot; computer aided design; diving beetle inspired underwater robot; diving beetle leg structural analysis; swimming legged underwater robot; swimming locomotion bio-mimicking; walking legged underwater robot; Hip; Joints; Kinematics; Legged locomotion; Propulsion; Robot sensing systems; bio-inspired legged underwater robot; diving beetles; motion planning;
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2014 13th International Conference on
DOI :
10.1109/ICARCV.2014.7064580
