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The purpose of this paper is specifically to provide a more intelligent locomotion planning method for a hexapod robot based on trajectory optimization, which could reduce the complexity of locomotion design, shorten time of design and generate efficient and accurate motion.

The authors generated locomotion for the hexapod robot based on trajectory optimization method and it just need to specify the high-level motion requirements. Here the authors first transcribed the trajectory optimization problem to a nonlinear programming problem, in which the specified motion requirements and the dynamics with complementarity constraints were defined as the constraints, then a nonlinear solver was used to solve. The leg compliance was taken into consideration and the generated motions were deployed on the hexapod robot prototype to prove the utility of the method and, meanwhile, the influence of different environments was considered.

The generated motions were deployed on the hexapod robot and the movements were demonstrated very much in line with the planning. The new planning method does not require lots of parameter-tuning work and therefore significantly reduces the cycle for designing a new locomotion.

A locomotion generation method based on trajectory optimization was constructed for a 12-degree of freedom hexapod robot. The variable stiffness compliance of legs was considered to improve the accuracy of locomotion generation. And also, different from some simulation work before, the authors have designed the locomotion in three cases and constructed field tests to demonstrate its utility.

The purpose of this paper is to introduce the modeling and implementation of a novel multimode amphibious robot, which is used for patrol and beach garbage cleaning in the land–water transition zone.

Starting from the design idea of multimode motion, the robot innovatively integrates the guiding fin and wheel together, is driven by the same motor and can achieve multimodal motion such as land, water surface and underwater with only six actuated degrees of freedom. The robot dispenses with the transmission mechanism by directly connecting the servo motor with a reducer to the actuator, so it has the characteristics of simplifying the structure and reducing the quality. And to the best of the authors' knowledge, the design of the robot can be considered the minimal configuration of amphibious robots with the same locomotion capabilities.

Based on the classical assumptions of underwater dynamics analysis, this paper uses basic airfoil theory to analyze the dynamics of the robot’s horizontal and vertical motions and establishes its simplified dynamics model. Also, the underwater motion of the robot is simulated, and the results are in good agreement with the existing research results. Finally, to verify the feasibility of the robot, a prototype is implemented and fully evaluated by experiments. Experimental results show that the robot can reach the maximum speed of 2.5 m/s and 0.3 m/s on land and underwater, respectively, proving the effectiveness of the robot.

The robot has higher work efficiency with the powerful multimode motion, and its simplified structure makes it more stable while costing less.

Fatigue and creep are the key factors for the failure of polymethyl methacrylate (PMMA) in the engineering structure, so a great of quantity attention is focused on the life prediction under the creep and fatigue conditions. This paper aims to mainly summarize the traditional life assessment method (S–N curve), life assessment method based on crazing density and life assessment method based on transmittance. S–N curve and classical creep curve are introduced on the traditional life assessment method; the variation of the craze density with the logarithm of cyclic numbers is given in different fatigue load. A linear relationship is obtained, and a higher stress leads to a higher slope, suggesting a faster growth of craze. Furthermore, a craze density model is purposed to describe this relationship; the variation of craze density with the time at different creep load is given. The craze density has two obvious stages. At the first stage, craze density ranged from approximately 0.02 to 0.17, and a linear relationship is obtained. In the following stage, a nonlinear relationship appears till specimen rupture, a new creep life model is proposed to depict two stages. The relationship between transmission and time under creep load is shown. With increasing of time, the transmittance shows a nonlinear decrease. Through polynomial nonlinear fitting, a relationship between the transmittance and residual life can be obtained. To provide reference for the life assessment of transparent materials, the paper compares three life assessment methods of PMMA.

This paper uses the traditional life assessment method (S–N curve), life assessment method based on crazing density, life assessment method based on transmittance.

The variation of the craze density with the logarithm of cyclic numbers is given in different fatigue loads. A linear relationship is obtained, and a higher stress leads to a higher slope, suggesting a faster growth of craze. Furthermore, a craze density model is proposed to describe this relationship, and the variation of craze density with the time at different creep loads is given. The craze density has two obvious stages. The relationship between transmission and time under creep load is shown. With increasing of time, the transmittance shows a nonlinear decrease. Through polynomial nonlinear fitting, a relationship between the transmittance and residual life can be obtained.

Fatigue and creep are the key factors for the failure of PMMA in the engineering structure, so a great of quantity attention is focused on the life prediction under the conditions of creep and fatigue. This paper mainly summarizes traditional life assessment method (S–N curve), life assessment method based on crazing density and life assessment method based on transmittance.