This paper presents the development and gait analysis of a quadruped amphibious robot. The proposed amphibious robot uses the five-bar mechanism to construct the flipper-leg to achieve terrestrial gaits and swimming gaits. We introduce a detailed model of five-bar mechanism to analysis the input and the output of the leg system. The leg trajectories of the robot during walking and swimming are analyzed. The experimental results show that since the implementation of the five-bar mechanism, the robot can easily adapt to different environments.
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