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Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems pp 41–69Cite as

Amphibious Robotic Propulsive Mechanisms: Current Technologies and Open Challenges

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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.

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Authors and Affiliations

  1. Department of Mechanical Engineering and Materials Science, Yale University, New Haven, CT, USA

    Robert Baines & Rebecca Kramer-Bottiglio

  2. Department of Biology, West Chester University, West Chester, PA, USA

    Frank Fish

Authors
  1. Robert Baines
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  2. Frank Fish
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  3. Rebecca Kramer-Bottiglio
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Correspondence to Rebecca Kramer-Bottiglio .

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Editors and Affiliations

  1. Department of Aerospace Engineering and Institute for Systems Research, University of Maryland, College Park, MD, USA

    Derek A. Paley

  2. Department of Aerospace Engineering, University of Maryland, College Park, MD, USA

    Norman M. Wereley

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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

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