Multicooperation of Turtle-inspired amphibious spherical robots
Abstract It is challenging to achieve high-speed and accurate multicooperation of turtle-inspired amphibious spherical robots (ASRs) in turbid water and confined spaces when the robots are underwater movement with multiple degrees of freedom (MDOF). This paper innovatively proposes a control strateg...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2025-01-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-025-85423-2 |
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| _version_ | 1832585812089241600 |
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| author | Liang Zheng Yuke Ma Hui Yu You Tang |
| author_facet | Liang Zheng Yuke Ma Hui Yu You Tang |
| author_sort | Liang Zheng |
| collection | DOAJ |
| description | Abstract It is challenging to achieve high-speed and accurate multicooperation of turtle-inspired amphibious spherical robots (ASRs) in turbid water and confined spaces when the robots are underwater movement with multiple degrees of freedom (MDOF). This paper innovatively proposes a control strategy for modelling and experimental platforms that can communicate and cooperate between multiple robots. First, a novel underwater kinematic model using the unit quaternion (UQ) algorithm is proposed based on attitude interpolation to realize MDOF movement. Then, the ASRs use a camera acquisition compartment to realize underwater target recognition and tracking by adjusting their motion trajectory. Finally, multirobot cooperation and three-dimensional (3-D) movement experiments using ASRs verifies the effectiveness of the proposed cooperation mode and 3-D underwater movement according to the control strategy implemented. The control strategy and experimental results presented in this paper can inspire the efficient communication and cooperation of multiple bionic robots, which are currently popular research topics. |
| format | Article |
| id | doaj-art-ddd29218aee64a569dddd825480b6bbf |
| institution | Kabale University |
| issn | 2045-2322 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj-art-ddd29218aee64a569dddd825480b6bbf2025-01-26T12:31:21ZengNature PortfolioScientific Reports2045-23222025-01-0115111710.1038/s41598-025-85423-2Multicooperation of Turtle-inspired amphibious spherical robotsLiang Zheng0Yuke Ma1Hui Yu2You Tang3Electrical and Information Engineering College, Jilin Agricultural Science and Technology UniversitySchool of Electronic Information Engineering, Changchun University of Science and TechnologySchool of Information and Control Engineering, Jilin Institute of Chemical TechnologyElectrical and Information Engineering College, Jilin Agricultural Science and Technology UniversityAbstract It is challenging to achieve high-speed and accurate multicooperation of turtle-inspired amphibious spherical robots (ASRs) in turbid water and confined spaces when the robots are underwater movement with multiple degrees of freedom (MDOF). This paper innovatively proposes a control strategy for modelling and experimental platforms that can communicate and cooperate between multiple robots. First, a novel underwater kinematic model using the unit quaternion (UQ) algorithm is proposed based on attitude interpolation to realize MDOF movement. Then, the ASRs use a camera acquisition compartment to realize underwater target recognition and tracking by adjusting their motion trajectory. Finally, multirobot cooperation and three-dimensional (3-D) movement experiments using ASRs verifies the effectiveness of the proposed cooperation mode and 3-D underwater movement according to the control strategy implemented. The control strategy and experimental results presented in this paper can inspire the efficient communication and cooperation of multiple bionic robots, which are currently popular research topics.https://doi.org/10.1038/s41598-025-85423-2 |
| spellingShingle | Liang Zheng Yuke Ma Hui Yu You Tang Multicooperation of Turtle-inspired amphibious spherical robots Scientific Reports |
| title | Multicooperation of Turtle-inspired amphibious spherical robots |
| title_full | Multicooperation of Turtle-inspired amphibious spherical robots |
| title_fullStr | Multicooperation of Turtle-inspired amphibious spherical robots |
| title_full_unstemmed | Multicooperation of Turtle-inspired amphibious spherical robots |
| title_short | Multicooperation of Turtle-inspired amphibious spherical robots |
| title_sort | multicooperation of turtle inspired amphibious spherical robots |
| url | https://doi.org/10.1038/s41598-025-85423-2 |
| work_keys_str_mv | AT liangzheng multicooperationofturtleinspiredamphibioussphericalrobots AT yukema multicooperationofturtleinspiredamphibioussphericalrobots AT huiyu multicooperationofturtleinspiredamphibioussphericalrobots AT youtang multicooperationofturtleinspiredamphibioussphericalrobots |