{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,24]],"date-time":"2026-02-24T18:13:38Z","timestamp":1771956818810,"version":"3.50.1"},"reference-count":32,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2023,12,22]],"date-time":"2023-12-22T00:00:00Z","timestamp":1703203200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2024,3]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The intricate water-land intermingled nature of wild environments necessitates robots to exhibit multimodal cross-domain mobility capabilities. This paper introduces a novel wheel-spoke-paddle hybrid amphibious robot (WSP-bot) that can operate on flat and rough terrains, water surfaces, and water-land transitional zones. The proposed robot relies on a propulsion mechanism called transformable wheel-spoke-paddle (WSP), which combines the stability of wheeled robots with the obstacle-climbing capability of legged robots, while also providing additional aquatic mobility. The utilization of a crank-slider-based transformation mechanism enables seamless switching between multiple motion modes. An analysis of mode transition and ground motion in spoke mode was conducted, along with an investigation of its obstacle-crossing capability. Simulations were performed for mode transition, ground locomotion, and obstacle-crossing, as well as propulsion of a single WSP module on water. Based on the above work, a prototype robot was manufactured. Prototype tests, including mode transition and mobility tests on land and water surfaces under multimodal states, confirmed the effectiveness of the proposed WSP-bot.<\/jats:p>","DOI":"10.1017\/s0263574723001716","type":"journal-article","created":{"date-parts":[[2023,12,22]],"date-time":"2023-12-22T07:52:26Z","timestamp":1703231546000},"page":"701-727","source":"Crossref","is-referenced-by-count":9,"title":["A transformable wheel-spoke-paddle hybrid amphibious robot"],"prefix":"10.1017","volume":"42","author":[{"given":"Yikai","family":"Ge","sequence":"first","affiliation":[]},{"given":"Feng","family":"Gao","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0772-9825","authenticated-orcid":false,"given":"Weixing","family":"Chen","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2023,12,22]]},"reference":[{"key":"S0263574723001716_ref7","doi-asserted-by":"crossref","DOI":"10.3390\/robotics9020032","article-title":"A survey on mechanical solutions for hybrid mobile robots","volume":"9","author":"Russo","year":"2020","journal-title":"Robotics"},{"key":"S0263574723001716_ref26","doi-asserted-by":"crossref","first-page":"16","DOI":"10.1016\/j.mechmachtheory.2018.04.020","article-title":"A reconfigurable hybrid wheel-track mobile robot based on Watt II six-bar linkage","volume":"128","author":"Luo","year":"2018","journal-title":"Mech. 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D. , Vaidyanathan, R. and Ieee, \u201cDesign of an Autonomous Amphibious Robot for Surf Zone Operation: Part I - Mechanical Design for Multi-Mode Mobility,\u201d IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (2005) pp. 1459\u20131464."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574723001716","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,2,13]],"date-time":"2024-02-13T09:55:22Z","timestamp":1707818122000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574723001716\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,12,22]]},"references-count":32,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2024,3]]}},"alternative-id":["S0263574723001716"],"URL":"https:\/\/doi.org\/10.1017\/s0263574723001716","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,12,22]]}}}