Title: 2A1-K09 Design of a Novel Eccentric Paddle Locomotion Mechanism for Amphibious Robots(Environmentally-Adapted Mechanism and Control)
Abstract: In this paper, we present a novel eccentric paddle mechanism (ePaddle) for amphibious robots. With this mechanism, the robot will be able to work in terrestrial, aquatic and semi-aquatic environments and perform wheeled, legged and paddling locomotion gaits. The concept of this mechanism is briefly introduced. Then, the prototype design of the ePaddle mechanism is presented. Simulations on wheel-like gait and legged gait are performed, and the results verify the proposed concept of ePaddle with its prototype design.