Journal of Bionic Engineering ›› 2022, Vol. 19 ›› Issue (6): 1736-1757.doi: 10.1007/s42235-022-00229-6

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Design, Implementation and Control of an Amphibious Spherical Robot

Liwei Shi1; Zhongyin Zhang1; Zhengyu Li1; Shuxiang Guo1,2; Shaowu Pan1; Pengxiao Bao1; Lijie Duan1   

  1. 1 Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, School of Life Science, Beijing Institute of Technology, Beijing 100081, China  2 Faculty of Engineering, Kagawa University, 2217-20 Hayashicho, Takamatsu, Kagawa 761-0396, Japan
  • 收稿日期:2021-12-29 修回日期:2022-05-30 接受日期:2022-06-03 出版日期:2022-11-10 发布日期:2022-11-10
  • 通讯作者: Liwei Shi E-mail:shiliwei@bit.edu.cn
  • 作者简介:Liwei Shi1; Zhongyin Zhang1; Zhengyu Li1; Shuxiang Guo1,2; Shaowu Pan1; Pengxiao Bao1; Lijie Duan1

Design, Implementation and Control of an Amphibious Spherical Robot

Liwei Shi1; Zhongyin Zhang1; Zhengyu Li1; Shuxiang Guo1,2; Shaowu Pan1; Pengxiao Bao1; Lijie Duan1   

  1. 1 Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, School of Life Science, Beijing Institute of Technology, Beijing 100081, China  2 Faculty of Engineering, Kagawa University, 2217-20 Hayashicho, Takamatsu, Kagawa 761-0396, Japan
  • Received:2021-12-29 Revised:2022-05-30 Accepted:2022-06-03 Online:2022-11-10 Published:2022-11-10
  • Contact: Liwei Shi E-mail:shiliwei@bit.edu.cn
  • About author:Liwei Shi1; Zhongyin Zhang1; Zhengyu Li1; Shuxiang Guo1,2; Shaowu Pan1; Pengxiao Bao1; Lijie Duan1

摘要: We proposed and implemented a leg-vector water-jet actuated spherical robot and an underwater adaptive motion control system so that the proposed robot could perform exploration tasks in complex environments. Our aim was to improve the kinematic performance of spherical robots. We developed mechanical and dynamic models so that we could analyze the motions of the robot on land and in water. The robot was equipped with an Inertial Measurement Unit (IMU) that provided inclination and motion information. We designed three types of walking gait for the robot, with different stabilities and speeds. Furthermore, we proposed an online adjustment mechanism to adjust the gaits so that the robot could climb up slopes in a stable manner. As the system function changed continuously as the robot moved underwater, we implemented an online motion recognition system with a forgetting factor least squares algorithm. We proposed a generalized prediction control algorithm to achieve robust underwater motion control. To ensure real-time performance and reduce power consumption, the robot motion control system was implemented on a Zynq-7000 System-on-Chip (SoC). Our experimental results show that the robot’s motion remains stable at different speeds in a variety of amphibious environments, which meets the requirements for applications in a range of terrains.

关键词: Bionic amphibious spherical robot , · Inertial measurement unit , · Quadruped gaits , · Forgetting factor least squares algorithm , · Generalized prediction control

Abstract: We proposed and implemented a leg-vector water-jet actuated spherical robot and an underwater adaptive motion control system so that the proposed robot could perform exploration tasks in complex environments. Our aim was to improve the kinematic performance of spherical robots. We developed mechanical and dynamic models so that we could analyze the motions of the robot on land and in water. The robot was equipped with an Inertial Measurement Unit (IMU) that provided inclination and motion information. We designed three types of walking gait for the robot, with different stabilities and speeds. Furthermore, we proposed an online adjustment mechanism to adjust the gaits so that the robot could climb up slopes in a stable manner. As the system function changed continuously as the robot moved underwater, we implemented an online motion recognition system with a forgetting factor least squares algorithm. We proposed a generalized prediction control algorithm to achieve robust underwater motion control. To ensure real-time performance and reduce power consumption, the robot motion control system was implemented on a Zynq-7000 System-on-Chip (SoC). Our experimental results show that the robot’s motion remains stable at different speeds in a variety of amphibious environments, which meets the requirements for applications in a range of terrains.

Key words: Bionic amphibious spherical robot , · Inertial measurement unit , · Quadruped gaits , · Forgetting factor least squares algorithm , · Generalized prediction control