Design and Evaluation of the Terrestrial Gait of the Bionic Robotic Duck

With the exploration of the ocean, amphibious robots can integrate the advantages of underwater and land robots, and can achieve detection on land, underwater, and seabed. This topic proposed the idea of bionic waterfowl, designed a set of amphibious bionic waterfowl robot prototype, and built the machinery platform and control system platform. The robot's dynamic leg and head and neck are moved by modeling; two kinds of land gait designs and simulation analysis of the robot are carried out by ADAMS software. In the simulation process, by adjusting the leg bending angle and joint rotation frequency of the two basic gaits designed, the robot can have a certain ability to overcome obstacles, and can run smoothly on horizontal ground and slopes with different angles. progress. Finally, according to the experimental results, the relationship curves between the leg bending angle and the anterior distance and the joint rotation frequency and the anterior distance were fitted. The bionic duck robot can choose the most suitable gait through the expression of fitting curve under different land environment conditions.