Mechanical design of a large scale amphibious walking and swimming robot

Cubero, S. N. and Billingsley, J. and Mohammed, J. (2011) Mechanical design of a large scale amphibious walking and swimming robot. In: 18th International Conference on Mechatonics and Machine Vision in Practice, 6-7 Dec 2011, CSIRO Pullenvale, Brisbane.

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Abstract

This paper describes the conceptual design and operating principles of an oscillating foil propulsion system for an unmanned underwater vehicle which has the acronym TURTLE. This will be designed to be a 6-legged swimming and walking amphibious robot, fitted with foils (or flat fins) which can be manipulated with several degrees of freedom to produce highly efficient underwater propulsion forces. The legs will each have four degrees of freedom, of which the fourth is rotation of a foil that is fitted to the 'shin' to provide propulsion for swimming.


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Item Type: Conference or Workshop Item (Commonwealth Reporting Category E) (Paper)
Refereed: Yes
Item Status: Live Archive
Faculty / Department / School: Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering
Date Deposited: 08 Mar 2012 03:17
Last Modified: 04 Jul 2017 02:11
Uncontrolled Keywords: robot, legged, underwater, autonomous
Fields of Research : 09 Engineering > 0906 Electrical and Electronic Engineering > 090602 Control Systems, Robotics and Automation
Socio-Economic Objective: B Economic Development > 85 Energy > 8501 Energy Exploration > 850103 Oil and Gas Exploration
URI: http://eprints.usq.edu.au/id/eprint/20589

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