AmphiHFW: Single Actuated Amphibious Mechanism With Undulation Fin and Leg‐Wheel Structure

作者：Yang Tian, S K, Takeki Ohira, Guoteng Zhang · 发表于：Journal of Field Robotics · 年份：2026 · DOI：10.1002/rob.70206 · 研究领域：Soft Robotics and Applications、Robotic Locomotion and Control、Dielectric materials and actuators

ABSTRACT Amphibious robots have garnered considerable attention and interest due to their versatility in various conditions. Recent advancements in hybrid mechanisms enhance robot adaptability but increase complexity, requiring more actuators and leading to intricate control systems and reduced robustness. This paper introduces a novel approach to amphibious mechanism design that integrates an undulation fin, legs, and wheels, all operated by a single actuator. With an analysis of several simple function mechanisms, a concept of the fin‐leg‐wheel combination is proposed. Through the analysis of the fin‐wheel structure and the exploration of soft materials, a novel driving method with a simple mechanism design is proposed. Subsequently, a leg‐wheel structure is adopted to enhance the robot's capabilities. Experimental results confirm that the developed robot prototype performs robustly under various conditions. Moreover, its ability to carry payloads significantly exceeding its own weight, combined with a low cost of transport, suggests that this mechanism can be readily adapted to enhance existing amphibious vehicles with multiple wheels.