CRAWLER

ROBOTS
AN AMPHIBIOUS ROBOT TO STUDY SALAMANDER
LIKE SWIMMING AND WALKING GAITS

Exhibitor : Juan Sebastian Rodriguez M

 INTRODUCTION

ONE of the key characteristics of animals is their

ability to efficiently move in their environments.
This fundamental yet impressive capability is the
result of millions of years of evolution, and its
flexibility and energy efficiency are still far from
being approached by robots. Understanding
animal locomotion and developing robots capable
of good locomotion are hard problems because of
the complex nonlinear interactions between the
control, the body, and the (unstructured)
environment.
 INTRODUCTION

Animal studies and robotics can mutually benefit from

each other to improve our understanding and control
of these complex interactions: Robotics can benefit by
taking inspiration from the principles of animal
locomotion to construct more agile robots, and animal
studies
HISTORY
CRAWLER STRUCTURE
THE ACTIVE DOF STRUCTURE
KINEMATICS OF SALAMANDER
LOCOMOTION
THE COORDINATES OF THE TRUNK
ARE GIVEN BY
KINEMATICS OF SALAMANDER
LOCOMOTION
KINEMATICS OF SALAMANDER
LOCOMOTION
MOVEMENT

(Left) CPG network that drives the robot.

Oscillators 1–8 drive the joints of the spine,
and oscillators 9–12 drive the limbs. (Right)
Output of each oscillator for the two modes
of locomotion, first swimming and then
walking.
Observe the traveling wave during swimming
and the standing wave during walking.
Each oscillator is implemented as an
amplitude-controlled phase oscillator
WALKING BEHAVIOR
SWIMMING BEHAVIOR
SIMULATED SALAMANDER ROBOT
MODEL
 REFERENCES

 An Amphibious Robot to Study Salamander-Like Swimming and

Walking Gaits.
(Alessandro Crespi, Konstantinos Karakasiliotis, Andr´e Guignard,
and Auke Jan Ijspeert, Member, IEEE)
 Analysis of the terrestrial locomotion of a salamander robot
Karakasiliotis and Auke Jan Ijspeert