Send to

Choose Destination
Micromachines (Basel). 2020 Jan 9;11(1). pii: E71. doi: 10.3390/mi11010071.

Collaboration and Task Planning of Turtle-Inspired Multiple Amphibious Spherical Robots.

Zheng L1,2,3, Guo S4,5, Piao Y3, Gu S6, An R1.

Author information

Graduate School of Engineering, Kagawa University, Takamatsu, Kagawa 761-0396, Japan.
Jilin Agricultural Science and Technology University, Jilin 132101, China.
Changchun University of Science and Technology, Changchun 130022, China.
Department of Intelligent Mechanical Systems Engineering, Kagawa University, Takamatsu, Kagawa 761-0396, Japan.
Key Laboratory of Convergence Medical Engineering and System and Healthcare Technology, The Ministry of Industry Information Technology, School of Life Science, Beijing Institute of Technology, Beijing 100081, China.
School of Control Engineering, Chengdu University of Information Technology, Chengdu 610225, China.


Amphibious Spherical Robots (ASRs) use an electric field to communicate and collaborate effectively in a turbid water of confined spaces where other mode communication modalities failed. This paper proposes an embedded architecture formation strategy for a group of turtle-inspired amphibious robots to maintain a long distance-parameterized path based on dynamic visual servoing. Inspired by this biological phenomenon, we design an artificial multi-robot cooperative mode and explore an electronic communication and collaborate devices, the control method is based in particular on underwater environment and also conduct a detailed analysis of control motion module. The objectives of control strategies are divided into four categories: The first strategy is that the leader robot controls the action of the overall robots to maintain collaborate together during motion along a desired geometric path and to follow a timing law that the communication efficiency and the arrival times to assigned sites. Furthermore, we design an adaptive visual servoing controller for trajectory tracking task, taking into account system dynamics with environment interactions. After that, the third strategy is a centralized optimization algorithm for the redistribution of target mission changes. Finally, this paper also proposes a new method of control strategies in order to guarantee that each robot in the team moves together according to the preset target toward its location in the group formation based on communication and stability modules.


amphibious spherical robot; collaborate robot; follower robot; rigid formation; underwater communication; underwater robot

Free full text

Supplemental Content

Full text links

Icon for Multidisciplinary Digital Publishing Institute (MDPI)
Loading ...
Support Center