Salamandra Robotica: A biologically inspired amphibious robot that swims and walks

Abstract

One of the key characteristics of animals, perhaps the most impressive, is their ability to move. It is the result of millions of years of evolution, and its complexity, flexibility, and energy efficiency are yet to be approached by robots. The control and coordination of many degrees of freedom in a robot is complex, and there is no well-established technique to deal with this: on their side, animals often have hundred degrees of freedom and use them with a surprising ability. The purpose of this project is to develop an amphibious robot inspired by the salamander in two aspects: the biomechanical structure and the locomotion control. The first purpose of the project is to explore and develop new technologies inspired by the salamander. In particular, we aim at developing a robot that can robustly swim, crawl, and walk. The second purpose is to use the developed robot as a test-bed for neurobiological models in a real (as opposed to simulated) embodiment. Finally, with its multiple gaits, such a robot would be useful for inspection or exploration purposes in difficult environments (e.g., flooded zones, under collapsed buildings, etc.). © 2009 Springer London.