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Design of a high-mobility multi-terrain robot based on eccentric paddle mechanism

Yi Sun, Yang Yang, Shugen Ma, Huayan Pu
2016 Robotics and Biomimetics  
Inspired by dextrous limb motion of animals, a novel form of locomotion has been established in our previous study, by proposing an eccentric paddle mechanism (ePaddle) for integrating paddling motion  ...  In this paper, prototypes of an ePaddle mechanism and an ePaddle-based quadruped robot are presented.  ...  By integrating paddles into a traditional wheel mechanism, the ePaddle mechanism is superior to other locomotion mechanisms due to its advantage in locomotion versatility and terrain adaptability.  ... 
doi:10.1186/s40638-016-0041-3 pmid:27358763 pmcid:PMC4896969 fatcat:f765aymb3vdltl4zeb3u2y7ygm

Locomotion Strategies for Amphibious Robots-A Review

Mohammed Rafeeq, Siti Fauziah Toha, Salmiah Ahmad, Mohd Asyraf Razib
2021 IEEE Access  
The shell's actuation realizes rotational paddling gait, and the epaddle is rotated that generates thrust for swimming by placing the paddle shaft at a distance eccentrically.  ...  Equads(epaddle) hybrid amphibious robot is inspired by an opossum, which utilizes hind limbs for propulsion and moves on the parasagittal plane when paddling.  ... 
doi:10.1109/access.2021.3057406 fatcat:yjquskqm7fffticy2n6v3hj6ye