Design and control of amphibious robots with multiple degrees of freedom

摘要: This thesis presents the design and realization of two generations robot elements that can be assembled together to construct amphibious mobile robots. These elements, designed individually waterproof having their own battery, motor controller, motor, have been used actually a snake, boxfish salamander robot. Central pattern generator (CPG) models inspired from those found in vertebrates for online trajectory generation on these robots implemented onboard locomotion controllers. CPGs proved an interesting way controlling complex robots, providing simple interface which hides complexity end user. Online learning algorithms dynamically adapt parameters environment implemented. Finally, this work also shows how robotics useful tool verify biological hypotheses. For instance, has test model CPG locomotion.