Caiwang Wang

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In this paper, a locomotion controller based on the biological concept of central pattern generator(CPG) is used to control one quadruped amphibious robot, which is characterized with agile legs that are based on five-bar mechanism. The kinematics of the leg mechanism are analyzed to underlie the CPG-based amphibious locomotion. In our framework, the CPG(More)
In this paper, a salamander-like amphibious robot prototype named Chigon is proposed. The Chigon can realize crawling locomotion on land and swimming locomotion under water, respectively. In order to achieve such two kinds of locomotion, a novel mechanical structure containing four limbs and a multiple segments linked tail is designed. Besides the(More)
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