TOWARDS LEGGED AMPHIBIOUS MOBILE ROBOTICS

Chris Prahacs, Aaron Saudners, Matthew K. Smith, Dave McMordie, Martin Buehler
2011 Proceedings of the Canadian Engineering Education Association (CEEA)  
New areas of research focus on bridging the gap between mobile robotics on land and at sea. This paper describes the evolution of RHex, a power-autonomous legged land-based robot, into one capable of both sea and land-based locomotion. In working towards an amphibious robot, three versions of RHex with increasing levels of aquatic capability were created. While all three platforms share the same underlying software, electronic and mechanical architectures, varying emphasis on aspects of similar
more » ... design criteria resulted in the development of varied platforms with increasing ability of amphibious navigation.
doi:10.24908/pceea.v0i0.4043 fatcat:v6jdmufncngjjd3get4xevtqie