Dynamic modeling and kinematic analysis of Frog robot

The traditional movement forms adopted by robot include wheeled, tracked, walking style etc. Each of these forms can not fit in both land and underwater environments unless assisted by others. Inspired by the Long board, a new movement form is applied to the Frog robot and this form gets driving force from the friction between ground and anti-bias wheels attached to two legs´ ends while the legs are swinging. This form acts like breaststroke and thus it can also generate driving force under water, and by controlling the swing range of the legs, Frog robot can adapt to the change of the road width. The paper first analyzes the characteristics of this form, and then establishes the dynamic model through mechanical analysis, and according to the model a speed control scheme is proposed. Simulation reveals the kinematic characteristics of the movement form.