Abstract
Amphibious robots capable of transition from aquatic to terrestrial locomotion face significant challenges associated with propulsive efficacy in each environment. Conventionally, amphibious robots have utilized separate systems for aquatic and terrestrial locomotion, such as rotors and wheels, respectively. Recent approaches have attempted to consolidate the propulsive mechanism footprint and complexity in hopes of creating systems that mirror the performance and adaptability of living organisms. The crux of such a bioinspired design philosophy lies in integrating hydrodynamic profiles and terrestrial mobility, two seemingly antithetical features, into a cohesive robot architecture. State-of-the-art amphibious robots approach this challenge in a variety of ways and can be sorted into four distinct categories based on their locomotion mechanisms and body plans: (1) wheeled, (2) legged, (3) undulating, and (4) soft. This chapter surveys existing amphibious robots under each category, identifies seminal designs, and briefly examines them. We then synthesize findings from the survey to highlight open avenues of research for the continued development of amphibious robots. Lastly, we discuss our ongoing research developing a variable stiffness morphing limb as a potential next-generation propulsor for amphibious robots.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
F. Fish, Advantages of aquatic animals as models for bio-inspired drones over present AUV technology. Bioinspir. Biomim. 15, 025001 (2020)
A.J. Ijspeert, A. Crespi, D. Ryczko, J.-M. Cabelguen, From swimming to walking with a salamander robot driven by a spinal cord model. Science 315(5817), 1416–1420 (2007)
J.A. Nyakatura, K. Melo, T. Horvat, K. Karakasiliotis, V.R. Allen, A. Andikfar, E. Andrada, P. Arnold, J. Lauströer, J.R. Hutchinson, M.S. Fischer, A.J. Ijspeert, Reverse-engineering the locomotion of a stem amniote. Nature 565(7739), 351–355 (2019)
Y. Li, F. Fish, Y. Chen, T. Ren, J. Zhou, Bio-inspired robotic dog paddling: kinematic and hydro-dynamic analysis. Bioinspir. Biomim. 14(6), 066008 (2019)
A.J. Ijspeert, Biorobotics: using robots to emulate and investigate agile locomotion. Science 346, 196–203 (2014)
L. Cui, P. Cheong, R. Adams, T. Johnson, AmBot: a bio-inspired amphibious robot for monitoring the swan-canning estuary system. J. Mech. Des. 136(11), 115001 (2014)
S. Dhull, D. Canelon, A. Kottas, J. Dancs, A. Carlson, N. Papanikolopoulos, Aquapod: a small amphibious robot with sampling capabilities, in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (2012), pp. 100–105
K. Tadakuma, R. Tadakuma, M. Aigo, M. Shimojo, M. Higashimori, M. Kaneko, Omni-Paddle amphibious spherical rotary paddle mechanism, in 2011 IEEE International Conference on Robotics and Automation (2011), pp. 5056–5062
B. Zhong, S. Zhang, M. Xu, Y. Zhou, T. Fang, W. Li, On a CPG-based hexapod robot: amphiHex-II with variable stiffness legs. IEEE/ASME Trans. Mechatron. 23(2), 542–551 (2018)
H. Zhang (ed.), Climbing and Walking Robots: Towards New Applications (I-Tech Education and Publisher, Vienna 2007), oCLC: 254375799
T.R. Consi, B.R. Ardaugh, T.R. Erdmann, M. Matsen, M. Peterson, J. Ringstad, A. Vechart, C. Verink, An amphibious robot for surf zone science and environmental monitoring, in OCEANS 2005 MTS/IEEE (2005), p. 7
H. Greiner, A. Shectman, C. Won, R. Elsley, P. Beith, Autonomous legged underwater vehicles for near land warfare, in Proceedings of Symposium on Autonomous Underwater Vehicle Technology (1996), pp. 41–48
M. Dunbabin, L. Marques, Robots for environmental monitoring: significant advancements and applications. IEEE Rob. Autom. Mag. 19(1), 24–39 (2012)
R.H. Harkins, T. Dunbar, A.S. Boxerbaum, R.J. Bachmann, R.D. Quinn, R. Vaidyanathan, S.C. Burgess, Confluence of active and passive control mechanisms enabling autonomy and terrain adaptability for robots in variable environments, in Advances in Electrical and Electronics Engineering—IAENG Special Edition of the World Congress on Engineering and Computer Science 2008 (2008), pp. 138–149
J. Ayers, J. Witting, C. Wilbur, P. Zavracky, N. McGruer, D. Massa, Biomimetic robots for shallow water mine countermeasures, in Autonomous Vehicles Mine Countermeasures Symposium (2000), p. 16
M.H. Dickinson, How animals move: an integrative view. Science 288(5463), 100–106 (2000)
A. Crespi, A. Badertscher, A. Guignard, A. Ijspeert, AmphiBot I: an amphibious snake-like robot. Robot. Auton. Syst. 50(4), 163–175 (2005)
A.A. Biewener, S.N. Patek, Animal Locomotion (Oxford University, Oxford, 2018)
C. Li, T. Zhang, D.I. Goldman, Locomotion: energy cost of swimming, flying, and running. Science 177(4045), 222–228 (1972)
P. Webb, Hydrodynamics and energetics of fish propulsion. Bull. Fish. Res. Board Can. 190, 1–158 (1975)
P. Webb, R. Blake, Swimming, in Functional Vertebrate Morphology, ed. by M. Hildebrand, D.M. Bramble, K.F. Liem, D.B. Wake (Harvard University Press, Cambridge, 1985), pp. 110–128
F.E. Fish, Biomechanics and energetics in aquatic and semiaquatic mammals: platypus to whale. Physiol. Biochem. Zool. 73(6), 683–698 (2000)
C. Gans, Biomechanics: An Approach to Vertebrate Biology (Lippincott, Philadelphia, 1974)
M. Hildebrand, The adaptive significance of tetrapod gait selection. Am. Zool. 20, 255–267 (1980)
R.J. Full, Mechanics and energetic of terrestrial locomotion: bipeds to polypeds, in Energy Transformations in Cells and Organisms, ed. by W. Wieser, E. Gnaiger (Thieme, Stuttgart, 1989), pp. 175–182
H.-T. Lin, G.G. Leisk, B. Trimmer, GoQBot: a caterpillar-inspired soft-bodied rolling robot. Bioinspir. Biomim. 6(2), 026007 (2011)
K. Low, T. Hu, S. Mohammed, J. Tangorra, M. Kovac, Perspectives on biologically inspired hybrid and multi-modal locomotion. Bioinspir. Biomim. 10, 020301 (2015)
R. Lock, S. Burgess, R. Vaidyanathan, Multi-modal locomotion: from animal to application. Bioinspir. Biomim. 9, 011001 (2014)
S.E. Peters, L.T. Kamel, D.P. Bashor, Hopping and swimming in the leopard frog, Rana pipiens: I. Step cycles and kinematics. J. Morphol. 230(1), 1–16 (1996)
F.E. Fish, Transitions from drag-based to lift-based propulsion in mammalian swimming. Am. Zool. 36(6), 628–641 (1996)
L.A. Isaac, P.T. Gregory, Aquatic versus terrestrial locomotion: comparative performance of two ecologically contrasting species of European natricine snakes. J. Zool. 273(1), 56–62 (2007)
M. Calisti, A. Arienti, F. Renda, G. Levy, B. Hochner, B. Mazzolai, P. Dario, C. Laschi, Design and development of a soft robot with crawling and grasping capabilities, in Proceedings of the 2012 IEEE International Conference on Robotics and Automation (2012), pp. 4950–4955
D.L. Hu, B. Cean, J.W.M. Bush, The hydrodynamics of water strider locomotion. Nature 424, 663–666 (2003)
J.W. Glasheen, T.A. Mcmahon, A hydrodynamic model of the locomotion in the Basilisk Lizard. Nature 380, 340–342 (1996)
S.T. Hsieh, Three-dimensional hindlimb kinematics of water running in the plumed Basilisk Lizard (Basiliscus plumifrons). J. Exp. Biol. 206, 4363–4377 (2003)
W.T. Gough, S.C. Farina, F.E. Fish, Aquatic burst locomotion by hydroplaning and running in common eiders (Somateria mollissima). J. Exp. Biol. 218, 1632–1638 (2015)
T. Williams, M. Ben-David, S. Noren, M. Rutishauser, K. McDonald, W. Heyward, Running energetics of the North American river otter: do short legs necessarily reduce efficiency on land? in Comparative Biochemistry and Physiology Part A: Molecular and Integrative Physiology, vol. 133 (2002), pp. 203–212
S. Vogel, Life in Moving Fluids (Princeton University, Princeton, 1994)
C.E. Jordan, A model of rapid-start swimming at intermediate Reynolds number: undulatory locomotion in the chaetognath Sagitta elegans. J. Exp. Biol. 169, 119–137 (1992)
M. LaBarbera, Why the wheels won’t go. Am. Nat. 121(3), 395–408 (1983)
A. Biewener, Scaling body support in mammals: limb posture and muscle mechanics. Science 245, 45–48 (1989)
A.A. Biewener, Biomechanical consequences of scaling. J. Exp. Biol. 208(9), 1665–1676 (2005)
A. McNeil, Elastic Mechanisms in Animal Movement (Cambridge University, Cambridge, 1998)
T. Dawson, C. Taylor, Energetic cost of locomotion in kangaroos. Nature 246(5431), 313–314 (1973)
D. Rus, M.T. Tolley, Design, fabrication and control of soft robots. Nature 521(7553), 467–475 (2015)
Y. Tang, Q. Zhang, G. Lin, J. Yin, Switchable adhesion actuator for amphibious climbing soft robot. Soft Robot. 5(5), 592–600 (2018)
A.A.M. Faudzi, M.R.M. Razif, G. Endo, H. Nabae, K. Suzumori, Soft-amphibious robot using thin and soft McKibben actuator, in Proceedings of the 2017 IEEE International Conference on Advanced Intelligent Mechatronics (2017), pp. 981–986
X. Liang, M. Xu, L. Xu, P. Liu, X. Ren, Z. Kong, J. Yang, S. Zhang, The AmphiHex: a novel amphibious robot with transformable leg-flipper composite propulsion mechanism, in Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (2012), pp. 3667–3672
L. Shi, S. Guo, S. Mao, C. Yue, M. Li, K. Asaka, Development of an amphibious turtle-inspired spherical mother robot. J. Bionic Eng. 10(4), 446–455 (2013)
A.J. Ijspeert, A. Crespi, Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model, in Proceedings of the 2007 IEEE International Conference on Robotics and Automation (2007), pp. 262–268
W. Wang, J. Yu, R. Ding, M. Tan, Bio-inspired design and realization of a novel multimode amphibious robot, in Proceedings of the 2009 IEEE International Conference on Automation and Logistics (2009), pp. 140–145
A. Crespi, K. Karakasiliotis, A. Guignard, A.J. Ijspeert, Salamandra robotica II: an amphibious robot to study salamander-like swimming and walking gaits. IEEE Trans. Robot. 29(2), pp. 308–320 (2013)
J. Yu, Y. Tang, X. Zhang, C. Liu, Design of a wheel-propeller-leg integrated amphibious robot, in Proceedings of the 2010 11th International Conference on Control Automation Robotics Vision (2010), pp. 1815–1819
Y. Yi, Z. Geng, Z. Jianqing, C. Siyuan, F. Mengyin, Design, modeling and control of a novel amphibious robot with dual-swing-legs propulsion mechanism, in Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (2015), pp. 559–566
F. Fish, Aerobic energetics of surface swimming in the muskrat Ondatra Zibethicus. Phys. Zool. 55, 180–189 (1982)
T. Lode, Comparative measurements of terrestrial and aquatic locomotion in Mustela lutreola and M. putorius. Int. J. Mamm. Biol. 64, 110–115 (1999)
T.M. Williams, Swimming by sea otters: adaptations for low energetic cost locomotion. J. Comp. Physiol. 164(6), 815–824 (1989)
R. Shine, S. Shetty, Moving in two worlds: aquatic and terrestrial locomotion in sea snakes (Laticauda Colubrina, Laticaudidae): sea snake locomotion. J. Evol. Biol. 14(2), 338–346 (2001)
T.M. Williams, W.A. Friedl, J.E. Haun, The physiology of bottlenose dolphins (Tursiops truncatus): heart rate, metabolic rate and plasma lactate concentration during exercise. J. Exp. Biol. 179, 31–46 (1993)
Amphibious 4WD WiFi Robotics SuperDroid. https://www.superdroidrobots.com/shop/item.aspx/ig42-sb4-ea-amphibious-4wd-wifi-robot/2121/
J. Katz, Race Car Aerodynamics (Bentley Publishers, Cambridge, 1995)
S. Yamada, S. Hirose, G. Endo, K. Suzumori, H. Nabae, R-Crank: amphibious all terrain mobile robot, in Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (2016), pp. 1067–1072
V. Kaznov, M. Seeman, Outdoor navigation with a spherical amphibious robot, in Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (2010), pp. 5113–5118
K. Kawasaki, M. Zhao, K. Okada, M. Inaba, MUWA: multi-field universal wheel for air-land vehicle with quad variable-pitch propellers, in Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (2013), pp. 1880–1885
M.G. Bekker, Theory of Land Locomotion (University of Michigan Press, Michigan, 1956)
J.Y. Wong, Theory of Ground Vehicles (Wiley, New York, 1978)
G. Meirion-Griffith, M. Spenko, An empirical study of the terramechanics of small unmanned ground vehicles, in Proceedings of the IEEE Aerospace Conference (2010), pp. 1–6
Y. Sun, S. Ma, ePaddle mechanism: towards the development of a versatile amphibious locomotion mechanism, in International Conference on Intelligent Robots and Systems (2011), pp. 5035–5040
Y. Sun, S. Ma, Y. Yang, H. Pu, Towards stable and efficient legged race-walking of an ePaddle-based robot. Mechatronics 23(1), 108–120 (2013)
Y. Shen, Y. Sun, H. Pu, S. Ma, Experimental verification of the oscillating paddling gait for an ePaddle-EGM amphibious locomotion mechanism. IEEE Rob. Autom. Lett. 2(4), 2322–2327 (2017)
N.B. Ignell, N. Rasmusson, J. Matsson, An overview of legged and wheeled robotic locomotion, in Mini-Conference on Interesting Results in Computer Science and Engineering, vol. 21 (2012)
C. Bernstein, M. Connolly, M. Gavrilash, D. Kucik, S. Threatt, Demonstration of surf-zone crawlers: results from AUV Fest 01, in Surf Zone Crawler Group, Naval Surface Warfare Center, Panama City, FL (2001)
M.A. Klein, A.S. Boxerbaum, R.D. Quinn, R. Harkins, R. Vaidyanathan, Seadog: a rugged mobile robot for surf-zone applications, in IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (2012), pp. 1335–1340
M.F. Silva, J.T. Machado, A literature review on the optimization of legged robots. J. Vib. Control 18(12), 1753–1767 (2012)
J. Ayers, J. Witting, C. Olcott, N. McGruer, D. Massa, Lobster robots, in Proceedings of the 2000 International Symposium on Aqua Biomechanisms (2000)
S. Floyd, T. Keegan, J. Palmisano, M. Sitti, A novel water running robot inspired by basilisk lizards, in Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (2006), pp. 5430–5436
H.S. Park, M. Sitti, Compliant footpad design analysis for a bio-inspired quadruped amphibious robot, in Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (2009), pp. 645–651
H.S. Park, S. Floyd, M. Sitti, Roll and pitch motion analysis of a biologically inspired quadruped water runner robot. Int. J. Robot. Res. 29(10), 1281–1297 (2010)
H. Kim, D. Lee, K. Jeong, T. Seo, Water and ground-running robotic platform by repeated motion of six spherical footpads. IEEE/ASME Trans. Mechatron. 21(1), 175–183 (2015)
Y. Chen, N. Doshi, B. Goldberg, H. Wang, R.J. Wood, Controllable water surface to underwater transition through electrowetting in a hybrid terrestrial-aquatic microrobot. Nat. Commun. 9(1), 2495 (2018)
B. Kwak, J. Bae, Locomotion of arthropods in aquatic environment and their applications in robotics. Bioinspir. Biomim. 13(4), 041002 (2018)
G. Dudek, M. Jenkin, C. Prahacs, A. Hogue, J. Sattar, P. Giguere, A. German, H. Liu, S. Saunderson, A. Ripsman, S. Simhon, L. Torres, E. Milios, P. Zhang, I. Rekletis, A visually guided swimming robot, in Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (2005), pp. 3604–3609
G. Dudek, P. Giguere, C. Prahacs, S. Saunderson, J. Sattar, L.-a. Torres-Mendez, M. Jenkin, A. German, A. Hogue, A. Ripsman, J. Zacher, E. Milios, H. Liu, P. Zhang, M. Buehler, C. Georgiades, AQUA: an amphibious autonomous robot. Computer 40(1), 46–53 (2007)
C. Prahacs, A. Saudners, M.K. Smith, D. McMordie, M. Buehler, Towards legged amphibious mobile robotics, in Proceedings of the Canadian Engineering Education Association (2011)
R. Quinn, J. Offi, D. Kingsley, R. Ritzmann, Improved mobility through abstracted biological principles, in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and System, vol. 3 (2002), pp. 2652–2657
A. Boxerbaum, P. Werk, R. Quinn, R. Vaidyanathan, Design of an autonomous amphibious robot for surf zone operation: part i mechanical design for multi-mode mobility, in Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (2005), pp. 1459–1464
R. Harkins, J. Ward, R. Vaidyanathan, A. Boxerbaum, R. Quinn, Design of an autonomous amphibious robot for surf zone operations: part II–hardware, control implementation and simulation, in Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (2005), pp. 1465–1470
A.S. Boxerbaum, M.A. Klein, J.E. Kline, S.C. Burgess, R.D. Quinn, R. Harkins, R. Vaidyanathan, Design, simulation, fabrication and testing of a bio-inspired amphibious robot with multiple modes of mobility. J. Robot. Mechatron. 24(4), pp. 629–641 (2012)
B.B. Dey, S. Manjanna, G. Dudek, Ninja legs: Amphibious one degree of freedom robotic legs, in 2013 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (2013), pp. 5622–5628
A.R. Vogel, K.N. Kaipa, G.M. Krummel, H.A. Bruck, S.K. Gupta, Design of a compliance assisted quadrupedal amphibious robot, in Proceedings of the 2014 IEEE International Conference on Robotics and Automation (2014), pp. 2378–2383
S. Zhang, X. Liang, L. Xu, M. Xu, Initial development of a novel amphibious robot with transformable fin-leg composite propulsion mechanisms. J. Bionic Eng. 10(4), 434–445 (2013)
S. Zhang, Y. Zhou, M. Xu, X. Liang, J. Liu, J. Yang, AmphiHex-I: locomotory performance in amphibious environments with specially designed transformable flipper legs. IEEE/ASME Trans. Mechatron. 21(3), 1720–1731 (2016)
S. Guo, S. Mao, L. Shi, M. Li, C. Yue, Development of a spherical amphibious mother robot, in Proceedings of the 2013 ICME International Conference on Complex Medical Engineering (2013), pp. 614–619
A. Crespi, A. Badertscher, A. Guignard, A.J. Ijspeert, Swimming and crawling with an amphibious snake robot, in Proceedings of the International Conference on Robotics and Automation (2005), pp. 3024–3028
T. Matsuo, T. Yokoyama, D. Ueno, K. Ishii, Biomimetic motion control system based on a CPG for an amphibious multi-link mobile robot. J. Bionic Eng. 5, 91–97 (2008)
S. Yu, S. Ma, B. Li, Y. Wang, An amphibious snake-like robot: design and motion experiments on ground and in water, in Proceedings of the 2009 International Conference on Information and Automation (2009), pp. 500–505
S. Yu, S. Ma, B. Li, Y. Wang, An amphibious snake-like robot with terrestrial and aquatic gaits, in Proceedings of the 2011 IEEE International Conference on Robotics and Automation (2011), pp. 2960–2961
J. Yu, R. Ding, Q. Yang, M. Tan, W. Wang, J. Zhang, On a bio-inspired amphibious robot capable of multimodal motion. IEEE/ASME Trans. Mechatron. 17(5), 847–856 (2012)
J. Yu, R. Ding, Q. Yang, M. Tan, J. Zhang, Amphibious pattern design of a robotic fish with wheel-propeller-fin mechanisms. J. Field Robot. 30(5), 702–716 (2013)
Robotics Pliant Energy Systems. https://www.pliantenergy.com/
Robot traversing sea, sand and snow, in Pliant Energy Systems. https://www.youtube.com/watch?v=2pVsaWwAOh0
A.A. Transeth, K.Y. Pettersen, L. Påll, A survey on snake robot modeling and locomotion. Robotica 27(7), 999–1015 (2009)
D. Trivedi, C.D. Rahn, W.M. Kier, I.D. Walker, Soft robotics: biological inspiration, state of the art, and future research. Appl. Bionics Biomech. 5(3), 99–117 (2008)
F. Corucci, N. Cheney, F. Giorgio-Serchi, J. Bongard, C. Laschi, Evolving soft locomotion in aquatic and terrestrial environments: effects of material properties and environmental transitions. Soft Robot. 5(4), 475–495 (2018)
A.D. Marchese, C.D. Onal, D. Rus, Autonomous soft robotic fish capable of escape maneuvers using fluidic elastomer actuators. Soft Robot. 1(1) 75–87 (2014)
R.F. Shepherd, F. Ilievski, W. Choi, S.A. Morin, A.A. Stokes, A.D. Mazzeo, X. Chen, M. Wang, G.M. Whitesides, Multigait soft robot, in Proceedings of the National Academy of Sciences, vol. 108(51), pp. 20,400–20,403 (2011)
T. Paschal, M.A. Bell, J. Sperry, S. Sieniewicz, R.J. Wood, J.C. Weaver, Design, fabrication, and characterization of an untethered amphibious sea urchin-inspired robot. IEEE Robot. Autom. Lett. 4(4), 3348–3354 (2019)
L. Hines, K. Petersen, G.Z. Lum, M. Sitti, Soft actuators for small-scale robotics. Adv. Mater. 29(13), 1603483 (2017)
L.A. Hirano, L.S. Martins-Filho, R.O. Duarte, J.F. de Paiva, Development of an amphibious robotic propulsor based on electroactive polymers, in Proceedings of the 2009 4th International Conference on Autonomous Robots and Agents (2009), pp. 284–289
N.W. Bartlett, M.T. Tolley, J.T.B. Overvelde, J.C. Weaver, B. Mosadegh, K. Bertoldi, G.M. Whitesides, R.J. Wood, A 3d-printed, functionally graded soft robot powered by combustion. Science 349(6244), 161–165 (2015)
J.L.C. Santiago, I.S. Godage, P. Gonthina, I.D. Walker, Soft robots and kangaroo tails: modulating compliance in continuum structures through mechanical layer jamming. Soft Robot. 3(2), 54–63 (2016)
N.G. Cheng, M.B. Lobovsky, S.J. Keating, A.M. Setapen, K.I. Gero, A.E. Hosoi, K.D. Iagnemma, Design and analysis of a robust, low-cost, highly articulated manipulator enabled by jamming of granular media, in Proceedings of the 2012 IEEE International Conference on Robotics and Automation (2012), pp. 4328–4333
A.R. Deshpande, Z.T.H. Tse, H. Ren, Origami-inspired bi-directional soft pneumatic actuator with integrated variable stiffness mechanism, in Proceedings of the 2017 18th International Conference on Advanced Robotics (ICAR) (2017), pp. 417–421
I.D. Falco, M. Cianchetti, A. Menciassi, A soft multi-module manipulator with variable stiffness for minimally invasive surgery. Bioinspir. Biomim. 12(5), 056008 (2017)
R.L. Baines, J.W. Booth, F.E. Fish, R. Kramer-Bottiglio, Toward a bio-inspired variable-stiffness morphing limb for amphibious robot locomotion, in Proceedings of the 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) (2019), pp. 704–710
F.E. Fish, Advantages of aquatic animals as models for bio-inspired drones over present AUV technology. Bioinspir. Biomim. 15(2), 025001 (2020)
S. Seok, A. Wang, M.Y. Chuah, D. Otten, J. Lang, S. Kim, Design principles for highly efficient quadrupeds and implementation on the MIT cheetah robot, in IEEE International Conference on Robotics and Automation (2013), p. 3307–3312
A.J. Ijspeert, Amphibious and sprawling locomotion: From biology to robotics and back. Annu. Rev. Control Robot. Auton. Syst. 3(1), 173–193 (2020)
C. Li, T. Zhang, D.I. Goldman, A terradynamics of legged locomotion on granular media. Science 339(5452), 1408–1412 (2013)
H. Marvi, C. Gong, N. Gravish, H. Astley, M. Travers, R. Hatton, J. Mendelson, H. Choset, D. Hu, D. Goldman, Sidewinding with minimal slip: Snake and robot ascent of sandy slopes. Science 346, 224–229 (2014)
B. Zhong, Y. Zhou, X. Li, M. Xu, S. Zhang, Locomotion performance of the amphibious robot on various terrains and underwater with flexible flipper legs. J. Bionic Eng. 13(4), 525–536 (2016)
R. Baines, S. Freeman, F. Fish, R. Kramer-Bottiglio, Variable stiffness morphing limb for amphibious legged robots inspired by chelonian environmental adaptations. Bioinspir. Biomim. 15(2), 025002 (2020)
J. Bertin, R.M. Cummings, Aerodynamics for Engineers, 5th edn. (Pearson Prentice-Hall, Upper Saddle River, 2009)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Baines, R., Fish, F., Kramer-Bottiglio, R. (2021). Amphibious Robotic Propulsive Mechanisms: Current Technologies and Open Challenges. In: Paley, D.A., Wereley, N.M. (eds) Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems. Springer, Cham. https://doi.org/10.1007/978-3-030-50476-2_3
Download citation
DOI: https://doi.org/10.1007/978-3-030-50476-2_3
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-50475-5
Online ISBN: 978-3-030-50476-2
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)