Towards Legged Amphibious Mobile Robotics

Abstract—New areas of research ,focus on bridging the gap between mobile robotics on land and atsea. 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 ofRHex 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 design criteria resulted in the development of varied platforms with increasing ability of amphibious navigation. 1. Introduction and Background Legged,robots ,have ,long ,captured ,the