Structural Design of a Biomimetic Amphibious Quadruped Robot

The biomimetic amphibious quadruped robot is a multi-environment adaptive robot capable of performing well both on land and in water. Based on biomimetic principles and the physiological and motion characteristics of animals, this paper analyzes the motion mechanism of the robot and designs a biomimetic robot that can adapt to both terrestrial and aquatic environments. An innovative integrated design combining serial legs and propeller thrusters is proposed. On land, a four-legged, 3-degree-of-freedom serial leg structure is adopted to ensure terrain adaptability; underwater, six propellers arranged on the body and legs enable omnidirectional propulsion, thereby meeting the diverse application requirements of land locomotion and underwater paddling. This study provides a reference for the structural design of biomimetic amphibious robots.