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Locomotion Strategies for Amphibious Robots-A Review

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Locomotion Strategies for Amphibious Robots-A Review Received December 21, 2020, accepted January 11, 2021, date of publication February 5, 2021, date of current version February 17, 2021. Digital Object Identifier 10.1109/ACCESS.2021.3057406 Locomotion Strategies for Amphibious Robots-A Review MOHAMMED RAFEEQ 1, SITI FAUZIAH TOHA 1, (Senior Member, IEEE), SALMIAH AHMAD 2, (Senior Member, IEEE), AND MOHD ASYRAF RAZIB1 1Department of Mechatronics Engineering, Kulliyah of Engineering, International Islamic University, Gombak 53100, Malaysia 2Department of Mechanical Engineering, Kulliyah of Engineering, International Islamic University, Gombak 53100, Malaysia Corresponding author: Siti Fauziah Toha ([email protected]) This work was supported in part by the International Islamic University Malaysia under Research Grant ``Highly Efficient Lithium-Ion Battery Recycling with Capacity-Sorted Optimization for Secondary Energy Storage System,'' IRF19-026-002, and in part by IIUM under the KOE Postgraduate Tuition Fee Waiver Scheme 2019 (TFW2019). ABSTRACT In the past two decades, unmanned amphibious robots have proven the most promising and efficient systems ranging from scientific, military, and commercial applications. The applications like monitoring, surveillance, reconnaissance, and military combat operations require platforms to maneuver on challenging, complex, rugged terrains and diverse environments. The recent technological advancements and development in aquatic robotics and mobile robotics have facilitated a more agile, robust, and efficient amphibious robots maneuvering in multiple environments and various terrain profiles. Amphibious robot locomotion inspired by nature, such as amphibians, offers augmented flexibility, improved adaptability, and higher mobility over terrestrial, aquatic, and aerial mediums. In this review, amphibious robots' locomotion mechanism designed and developed previously are consolidated, systematically The review also analyzes the literature on amphibious robot highlighting the limitations, open research areas, recent key development in this research field. Further development and contributions to amphibious robot locomotion, actuation, and control can be utilized to perform specific missions in sophisticated environments, where tasks are unsafe or hardly feasible for the divers or traditional aquatic and terrestrial robots. INDEX TERMS Bioinspired robot, multimodal locomotion, amphibious robot,autonomous amphibious vehicle. I. INTRODUCTION (UUV) [3] or commonly referred as autonomous unmanned The marine environment covers two-third of the earth's habi- vehicle (AUV) [4]. Remotely operated vehicles (ROV) [5] tat and is vital for human development. The habitat is rich and Unmanned surface vehicles (USV) [6] commonly con- in natural and mineral resources, economic value, ecological stitute the AUV class. The marine environment deployed significance, biodiversity, cultural heritage, and transporta- UMV for many applications that necessitate autonomous and tion routes. The study of these environments is crucial for unmanned capabilities. Amphibious robotics is a prominent resource exploitation and sustainable progress. Traditionally, field among the researcher, industrial application, and it is of the above applications employ manned vehicles for operating great scientific importance. in this environment. However, shear reliance on a manned AUV, bio-mimetic, and bio-inspired amphibious robots are mission risks human life operating in dangerous habitat. a category of robots employed for both aquatic and terrestrial The challenging environment creates a new possibility for applications. However, most marine robots are designed to unmanned and autonomous marine vehicles (UMV). UMV operate in an underwater environment. The growing demand has found widespread usage in the marine industry [1] and for applications like patrolling, surveying, and reconnais- military applications [2]. sance necessitates maneuvering of these robots in multi- In the literature, unmanned marine vehicle terminology ple environments like aquatic, terrestrial, and air medium. is interchangeably used with unmanned underwater vehicles Diverse environments have different characteristics, features, environmental properties, and locomotion surface (structured The associate editor coordinating the review of this manuscript and and unstructured) to maneuver. The transition between the approving it for publication was Muhammad Zubair . environment with the same design is also a cumbersome and This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/ VOLUME 9, 2021 26323 M. Rafeeq et al.: Locomotion Strategies for Amphibious Robots-A Review nontrivial problem. These challenges open new technological In the current review article, an extensive survey of problems, dimensions, and areas for the researchers. In the amphibious robots focusing mainly on the functionality Of past two decades, the research advancements are mainly in their locomotion mechanism.. The discussion outlines the locomotion, motion control, planning and navigation, percep- design and deployment of amphibious robots in practice, tion, and vision of amphibious robots. underlining some of the shortcomings and open research An amphibious mobile robot maneuver both on land and areas. A vast literature exists in the different domains for water. The inspiration to build Amphibious robots is based amphibious robots; therefore, in this work, discussion on on the amphibian animals present in the nature. The amphib- amphibious robot locomotion in detail on every published ians possess the capabilities that they inhabit both on land work is not possible due to space constraints. We tried to and water environment [7]. Amphibians have exceptional arrange the literature on amphibious robots based on loco- locomotion competence in an unstructured, dynamically motion modes. Further, we have limited the scope of review changing, and uncertain environment. The locomotion of to locomotion of amphibious robot. We believe that this amphibians in these environments is robust and efficient. review will facilitate robotics engineers to a comprehensive However, mimicking amphibians and taking inspiration to understanding of amphibious robot designs in terms of loco- develop functionality for amphibious robots is challeng- motion, control and actuation, various technical features like ing and nontrivial. The maneuvering land environment of operating speed, actuating frequencies, and issues related to amphibious robot is on irregular and uneven terrain. Whereas locomotion and control. Future robotic engineers and design- the characteristic of an aquatic environment is dynamically ers will make new designs by adopting features from existing changing, which encounters continuous perturbations; many successful designs. amphibians conventionally have an exceptional adaptation to The paper is organized as section one gives a detailed the changing terrains and dynamic aquatic disturbances. The introduction of the amphibious robot. In the second section, challenge in an amphibious robot is its operational capabil- a detailed discussion on various locomotion mechanism pro- ities in water and on the ground, working within a single viding concrete background and outlook. Section three out- mechanism. lines the analysis of amphibious robots. Finally, the research To achieve amphibious locomotion that is adaptable to a prospects and some of the limitations of previous works are different environment, researchers in the past have developed discussed. interesting robots broadly categorized into a bio-mimetic and Bio-inspired amphibious robot. In the design of an amphibian II. LOCOMOTION AND MECHANISM OF THE inspired robot, Bio-inspiration design approach is a widely AMPHIBIOUS ROBOT accepted pertaining to its realistic development and deploy- Locomotion is the primary trait of any organism in nature. ment. Bio-inspired amphibious robots [8] offer transforma- Understanding its characteristics and taking inspiration to tive performance in maneuvering, specifically a region of build a mechatronic system for enhancing motion perfor- transition between water and land, also the high energy waves mance is a growing research area [24]. Amphibious robots' region, and different substrate types dynamically fluidized locomotion strategies are inspired by amphibians with multi- sediment. An examination of biological solutions for transi- ple functional locomotion capabilities for movement on land tioning between aquatic and terrestrial locomotion suggests and in an aquatic medium. Locomotion of some amphibians that morphological compromise for high-performance loco- like salamander and serpentine inspires connected mecha- motion in both terrestrial and aquatic medium has not yet tronics modules undulation motion for the motion in the occurred. Robotic designs have greatly benefited from studies terrestrial and aquatic environment [25]. Amphibians like of vertebrates' evolution transitioning from water to land; the salamanders and reptiles like basilisk lizards and crocodiles limb can adapt to terrestrial locomotion. Table 1 highlights locomotion using legs laterally appended and elongated to some of the bio-inspired amphibious locomotion strategies the body for locomotion [26]. Auke et al. [20] investi- reported in the past literature, which is taking inspiration from gated the sprawling amphibious locomotion of a salaman- animal locomotion. der. The sprawling locomotion of amphibious animals like
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