Qunwei Zhu

High nonlinearity and limited computational resources create persistent challenges for achieving autonomous, stable, and accurate locomotion in insect-scale crawling robots, hindering their practical deployment. In this study, we build the mathematical models of the insect-scale micro crawling robot named PLioBot and propose a locomotion control strategy that eliminates the need for gait transitions. The locomotion transformation of the PLioBot prototype, from driving inputs to mechanical motion outputs, is decomposed into multiple motion processes. This study analyzes the theoretical models underlying these motion processes and develops the locomotion simulation model for the PLioBot based on the mathematical models and the multibody dynamics simulation tool. The locomotion control strategy with low computational requirements is designed based on a closed-loop PID controller, which regulates the robot’s locomotion by independently adjusting the step lengths of its left and right legs. The locomotion co-simulation system is established to validate the control strategy. The simulation results confirm that this control strategy enables the PLioBot to perform straight-line locomotion and turning without requiring any gait transition.

Amphibious robots have broad prospects in the fields of industry, defense, and transportation. To improve the propulsion performance and reduce operation complexity, a novel bionic amphibious robot, namely AmphiFinbot-II, is presented in this paper. The swimming and walking components adopt a compound drive mechanism, enabling simultaneous control for the rotation of the track and the wave-like motion of the undulating fin. The robot employs different propulsion methods but utilizes the same operation strategy, eliminating the need for mode switching. The structure and the locomotion principle are introduced. The performance of the robot in different motion patterns was analyzed via computational fluid dynamics simulation. The simulation results verified the feasibility of the wave-like swimming mechanism. Physical experiments were conducted for both land and underwater motion, and the results were consistent with the simulation regulation. Both the underwater linear and angular velocity were proportional to the undulating frequency. The robot’s maximum linear speed and steering speed on land were 2.26 m/s (2.79 BL/s) and 442°/s, respectively, while the maximum speeds underwater were 0.54 m/s (0.67 BL/s) and 84°/s, respectively. The research findings indicate that the robot possesses outstanding amphibious motion capabilities and a simplistic yet unified control approach, thereby validating the feasibility of the robot’s design scheme, and offering a novel concept for the development of high-performance and self-contained amphibious robots.