Control design and swimming gait study of turtle-like amphibian robot

Abstract

In recent years, the robotic engineering community is focusing more on the area of biomimetic robots. In doing, they will be able to gain the advantages that have been enjoyed by nature’s creation. Development of underwater robotic vehicles (URV) is one of the many areas where biomimetic robots have been used for ocean exploration and other purposes.

Due to a demand for a platform for the housing of underwater equipments for use for ocean exploration and to research on the feasibility of lift and drag based propulsions, a robotic turtle was designed and developed.

The robotic turtle is designed to fit the requiems that it be able to function for substantiate time underwater. It is also designed to be easy serviceable and maintained.

This report will detail the final design of the robotic turtle including details on its electronic and motors that re used for the locomotion of the robotic turtle. The programming of the robotic turtle and the motions that it will undergo will be done. Observation of the prototype of the robotic turtle during initial testing are also shown and discussed.