Design and analysis of an amphibious robot based on four-rotor

Conventional mobile robots usually just have only one motion mode, which make them have week circumstances adapting capability. In order to solve this problem, this paper presents an amphibious robot, which has better circumstances adapting capability. Firstly, mechanical structure, control and sensor system are introduced, and the principal of flying in the air and rolling on the ground by configuring the rotating velocity and direction of the four rotors are illustrated. Then dynamics modeling is carried out by using the Newton′s second law and Euler equations. This modeling is suitable for both of the two motion modes. Finally, experiments are implemented and the experimental results verified that this amphibious robot can have two motion modes and thus enhanced the environment adaptability of conventional mobile robot which just has a single motion mode.