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Open AccessArticle

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

Faculty of Robotics and Advanced Computing, Qatar Armed Forces—Academic Bridge Program, Qatar Foundation, 24404 Doha, Qatar
Faculty of Engineering, Computing and Science, Swinburne University of Technology, 93350 Sarawak, Malaysia
Faculty of Computer Engineering Signal and Image Processing Qatar University, 24404 Doha, Qatar
Author to whom correspondence should be addressed.
Robotics 2019, 8(3), 77;
Received: 18 April 2019 / Revised: 13 August 2019 / Accepted: 27 August 2019 / Published: 5 September 2019
(This article belongs to the Special Issue Robotics in Extreme Environments)
Roaming complexity in terrains and unexpected environments pose significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration, namely, walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates a webbed duck feet design to walk on different terrains, swim in the water, and tackle obstructions on its way. The designed robot is compact, easy to use, and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Because of the design, the webbed feet are able to open and close with the help of water pressure. Klann linkages have been used to convert rotational motion to walking and swimming for the animal’s gait. Because of its amphibian nature, the designed robot can be used for exploring tight caves, closed spaces, and moving on uneven challenging terrains such as sand, mud, or water. It is envisaged that the proposed design will be appreciated in the industry to design amphibious robots in the near future. View Full-Text
Keywords: amphibious robot; duck feet; quadruped; Klann linkage; webbed feet amphibious robot; duck feet; quadruped; Klann linkage; webbed feet
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Kashem, S.B.A.; Jawed, S.; Ahmed, J.; Qidwai, U. Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet. Robotics 2019, 8, 77.

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