{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,16]],"date-time":"2026-02-16T16:56:14Z","timestamp":1771260974653,"version":"3.50.1"},"reference-count":30,"publisher":"Emerald","issue":"5","license":[{"start":{"date-parts":[[2022,1,21]],"date-time":"2022-01-21T00:00:00Z","timestamp":1642723200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2022,6,30]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The purpose of this paper is to introduce the modeling and implementation of a novel multimode amphibious robot, which is used for patrol and beach garbage cleaning in the land\u2013water transition zone.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>Starting from the design idea of multimode motion, the robot innovatively integrates the guiding fin and wheel together, is driven by the same motor and can achieve multimodal motion such as land, water surface and underwater with only six actuated degrees of freedom. The robot dispenses with the transmission mechanism by directly connecting the servo motor with a reducer to the actuator, so it has the characteristics of simplifying the structure and reducing the quality. And to the best of the authors' knowledge, the design of the robot can be considered the minimal configuration of amphibious robots with the same locomotion capabilities.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>Based on the classical assumptions of underwater dynamics analysis, this paper uses basic airfoil theory to analyze the dynamics of the robot\u2019s horizontal and vertical motions and establishes its simplified dynamics model. Also, the underwater motion of the robot is simulated, and the results are in good agreement with the existing research results. Finally, to verify the feasibility of the robot, a prototype is implemented and fully evaluated by experiments. Experimental results show that the robot can reach the maximum speed of 2.5\u2009m\/s and 0.3\u2009m\/s on land and underwater, respectively, proving the effectiveness of the robot.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The robot has higher work efficiency with the powerful multimode motion, and its simplified structure makes it more stable while costing less.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-10-2021-0245","type":"journal-article","created":{"date-parts":[[2022,1,20]],"date-time":"2022-01-20T06:45:22Z","timestamp":1642661122000},"page":"947-961","source":"Crossref","is-referenced-by-count":8,"title":["Modeling and implementation of a novel amphibious robot with multimode motion"],"prefix":"10.1108","volume":"49","author":[{"given":"Xuelong","family":"Li","sequence":"first","affiliation":[]},{"given":"Lei","family":"Jiang","sequence":"additional","affiliation":[]},{"given":"Xinxin","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Ruina","family":"Dang","sequence":"additional","affiliation":[]},{"given":"Fusheng","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Wang","family":"Wei","sequence":"additional","affiliation":[]},{"given":"Tong","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Guoshun","family":"Wang","sequence":"additional","affiliation":[]}],"member":"140","published-online":{"date-parts":[[2022,1,21]]},"reference":[{"issue":"3","key":"key2022062914055974300_ref001","doi-asserted-by":"publisher","first-page":"207","DOI":"10.1023\/a:1012426720699","article-title":"RHex: a biologically inspired hexapod runner","volume":"11","year":"2001","journal-title":"Autonomous Robots"},{"key":"key2022062914055974300_ref002","doi-asserted-by":"publisher","first-page":"41","DOI":"10.1017\/s0022112097008392","article-title":"Oscillating foils of high propulsive efficiency","volume":"360","year":"1998","journal-title":"Journal of Fluid Mechanics"},{"key":"key2022062914055974300_ref003","unstructured":"Boxerbaum, A.S., Werk, P., Quinn, R.D. and Vaidyanathan, R. (2005), \u201cDesign of an autonomous amphibious robot for surf zone operation: part i mechanical design for multi-mode mobility\u201d, Paper presented at the Proceedings, 2005 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics."},{"issue":"4","key":"key2022062914055974300_ref004","doi-asserted-by":"publisher","first-page":"163","DOI":"10.1016\/j.robot.2004.09.015","article-title":"AmphiBot I: an amphibious snake-like robot","volume":"50","year":"2005","journal-title":"Robotics and Autonomous Systems"},{"issue":"2","key":"key2022062914055974300_ref005","doi-asserted-by":"publisher","first-page":"308","DOI":"10.1109\/tro.2012.2234311","article-title":"Salamandra robotica II: an amphibious robot to study salamander-like swimming and walking gaits","volume":"29","year":"2013","journal-title":"Ieee Transactions on Robotics"},{"issue":"4","key":"key2022062914055974300_ref006","doi-asserted-by":"publisher","DOI":"10.5772\/56059","article-title":"Dynamic modelling of a CPG-controlled amphibious biomimetic swimming robot","volume":"10","year":"2013","journal-title":"International Journal of Advanced Robotic Systems"},{"issue":"1","key":"key2022062914055974300_ref007","doi-asserted-by":"publisher","first-page":"46","DOI":"10.1109\/mc.2007.6","article-title":"AQUA: an amphibious autonomous robot","volume":"40","year":"2007","journal-title":"Computer"},{"key":"key2022062914055974300_ref008","doi-asserted-by":"crossref","unstructured":"Dunker, P.A., Lewinger, W.A., Hunt, A.J. and Quinn, R.D. (2009), \u201cA biologically inspired robot for lunar in-Situ resource utilization\u201d, Paper presented at the 2009 IEEE\/RSJ International Conference on Intelligent Robots and Systems.","DOI":"10.1109\/IROS.2009.5354202"},{"key":"key2022062914055974300_ref009","doi-asserted-by":"publisher","first-page":"37","DOI":"10.1016\/j.rcim.2017.11.009","article-title":"Modeling and experimental evaluation of an improved amphibious robot with compact structure","volume":"51","year":"2018","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"key2022062914055974300_ref010","doi-asserted-by":"crossref","unstructured":"Junzhi, Y., Lizhong, L. and Long, W. (2006), \u201cDynamic modeling and experimental validation of biomimetic robotic fish\u201d, Paper presented at the 2006 American Control Conference.","DOI":"10.1109\/ACC.2006.1657366"},{"issue":"3","key":"key2022062914055974300_ref011","doi-asserted-by":"publisher","DOI":"10.3390\/robotics8030077","article-title":"Design and implementation of a quadruped amphibious robot using duck feet","volume":"8","year":"2019","journal-title":"Robotics"},{"key":"key2022062914055974300_ref012","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1016\/j.robot.2014.11.007","article-title":"Design and performance evaluation of an amphibious spherical robot","volume":"64","year":"2015","journal-title":"Robotics and Autonomous Systems"},{"key":"key2022062914055974300_ref013","first-page":"9","article-title":"Note on the swimming of slender fish","year":"1960"},{"key":"key2022062914055974300_ref014","doi-asserted-by":"publisher","first-page":"141","DOI":"10.1016\/j.robot.2021.103785","article-title":"Review of snake robots in constrained environments","volume":"141","year":"2021","journal-title":"Robotics and Autonomous Systems"},{"key":"key2022062914055974300_ref015","article-title":"Development and gait analysis of five-bar mechanism implemented quadruped amphibious robot","year":"2010"},{"key":"key2022062914055974300_ref016","article-title":"Locomotion by scrombrid fishes: hydromechanics, morphology and behavior","year":"1978"},{"issue":"7","key":"key2022062914055974300_ref017","doi-asserted-by":"publisher","first-page":"616","DOI":"10.1177\/02783640122067570","article-title":"RHex: a simple and highly mobile hexapod robot","volume":"20","year":"2001","journal-title":"The International Journal of Robotics Research"},{"key":"key2022062914055974300_ref018","doi-asserted-by":"crossref","unstructured":"Schroer, R.T., Boggess, M.J., Bachmann, R.J., Quinn, R.D. and Ritzmann, R.E. (2004), \u201cComparing cockroach and whegs robot body motions\u201d, Paper presented at the IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.","DOI":"10.1109\/ROBOT.2004.1308761"},{"issue":"2","key":"key2022062914055974300_ref019","doi-asserted-by":"publisher","first-page":"237","DOI":"10.1109\/48.757275","article-title":"Review of fish swimming modes for aquatic locomotion","volume":"24","year":"1999","journal-title":"IEEE Journal of Oceanic Engineering"},{"issue":"4","key":"key2022062914055974300_ref020","doi-asserted-by":"publisher","first-page":"446","DOI":"10.1016\/s1672-6529(13)60248-6","article-title":"Development of an amphibious turtle-inspired spherical mother robot","volume":"10","year":"2013","journal-title":"Journal of Bionic Engineering"},{"key":"key2022062914055974300_ref021","article-title":"Modeling and optimization of wheel-propeller-leg integrated driving mechanism for an amphibious robot","year":"2009"},{"issue":"2","key":"key2022062914055974300_ref022","doi-asserted-by":"publisher","first-page":"205","DOI":"10.1006\/jfls.1993.1012","article-title":"Optimal thrust development in oscillating foils with application to fish propulsion","volume":"7","year":"1993","journal-title":"Journal of Fluids and Structures"},{"issue":"1","key":"key2022062914055974300_ref023","doi-asserted-by":"publisher","DOI":"10.1115\/1.4028056","article-title":"Dynamic modeling of robotic fish with a base-actuated flexible tail","volume":"137","year":"2015","journal-title":"Journal of Dynamic Systems Measurement and Control-Transactions of the ASME"},{"key":"key2022062914055974300_ref024","doi-asserted-by":"publisher","first-page":"50","DOI":"10.4028\/www.scientific.net\/AMM.421.50","article-title":"Design of a wheel-propeller integrated amphibious robot and hydrodynamic analysis","volume":"421","year":"2013","journal-title":"Applied Mechanics and Materials"},{"issue":"5","key":"key2022062914055974300_ref026","doi-asserted-by":"publisher","first-page":"702","DOI":"10.1002\/rob.21470","article-title":"Amphibious pattern design of a robotic fish with wheel-propeller-fin mechanisms","volume":"30","year":"2013","journal-title":"Journal of Field Robotics"},{"key":"key2022062914055974300_ref027","first-page":"1815","article-title":"Design of a wheel-propeller-leg integrated amphibious robot","year":"2010"},{"issue":"5","key":"key2022062914055974300_ref025","doi-asserted-by":"publisher","first-page":"847","DOI":"10.1109\/tmech.2011.2132732","article-title":"On a bio-inspired amphibious robot capable of multimodal motion","volume":"17","year":"2012","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"4","key":"key2022062914055974300_ref028","doi-asserted-by":"publisher","first-page":"434","DOI":"10.1016\/s1672-6529(13)60247-4","article-title":"Initial development of a novel amphibious robot with transformable fin-leg composite propulsion mechanisms","volume":"10","year":"2013","journal-title":"Journal of Bionic Engineering"},{"issue":"2","key":"key2022062914055974300_ref029","doi-asserted-by":"publisher","first-page":"542","DOI":"10.1109\/tmech.2018.2800776","article-title":"On a CPG-based hexapod robot: amphiHex-II with variable stiffness legs","volume":"23","year":"2018","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"2","key":"key2022062914055974300_ref030","doi-asserted-by":"publisher","first-page":"242","DOI":"10.1108\/ir-05-2016-0151","article-title":"Application of bio-inspired control of AmphiHex-I in detection of Oncomelania hupensis, the amphibious snail intermediate host of Schistosoma japonicum","volume":"44","year":"2017","journal-title":"Industrial Robot: An International Journal"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-10-2021-0245\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-10-2021-0245\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:40:14Z","timestamp":1753393214000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/49\/5\/947-961\/175679"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,1,21]]},"references-count":30,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2022,1,21]]},"published-print":{"date-parts":[[2022,6,30]]}},"alternative-id":["10.1108\/IR-10-2021-0245"],"URL":"https:\/\/doi.org\/10.1108\/ir-10-2021-0245","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"},{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2022,1,21]]}}}