Robotics amphibious salamander with bio-inspired locomotion
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Abstract
This paper presents the development of an amphibious robot with a motion dynamics bioinspired on the locomotion of the salamander (Cryptobranchidae). The robot is teleoperated by an application for handled devices. We propose a structure to perform two different motions: walk and swim. We extract the movements from a real salamander by a zenith camera, and a locomotion control algorithm is designed to reply this movements. We evaluate the performance of the robot in comparison with the real animal movements using the RMSE (Root Mean Square Error) as metric of evaluation. We obtain errors less than 5 % in the angles of backbone movement.
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