Aquapod: Prototype design of an amphibious tumbling robot

Andrew Carlson, Nikos Papanikolopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

As mobile robots decrease in size so does their ability to traverse rough terrain. New forms of locomotion beyond the basic wheel are being explored to overcome this fault. This paper expands on the mechanical design of a previous robot with a high mobility-to-size ratio. To accomplish high mobility the robot uses tumbling as its form of locomotion. By actively involving the body of the robot in the locomotion it can scale larger obstacles and will not get stuck in compliant terrain like similar sized wheeled robots. To accommodate real-world environments the new design has been waterproofed and moreover can be completely submerged in water to operate on a lake or stream floor. Additionally, this robot is equipped with a buoyancy control unit which will allow the robot to either sink or float in water, offering many unique applications in environmental monitoring and surveillance. This paper describes a first generation, radio controlled prototype of the design.

Original languageEnglish (US)
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages4589-4594
Number of pages6
DOIs
StatePublished - Dec 1 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period5/9/115/13/11

Fingerprint

Dive into the research topics of 'Aquapod: Prototype design of an amphibious tumbling robot'. Together they form a unique fingerprint.

Cite this