TY - JOUR N2 - This paper presents the design of a versatile mechanism that can enable new directions in amphibious, all-terrain locomotion. The simple, passive, flapped-paddle can be integrated with several structures that are well-suited for locomotion in terrestrial applications. The flapped-paddle overcomes a serious limitation of the conventional flipper where the net lateral forces generated during oscillatory motion in aquatic environments averages out to zero. The flapped-paddle and its mounting, collectively, rests in natural positions in the aquatic environment so as to maximize hydrodynamic force utilization and consequently the propulsive efficiency. The simplicity of the design enabled us to develop a simulation model that concurs well with experimental results. The results reported in the paper are based on integrating the flapped-paddle with the curved leg of the RHex hexapod robot. L1 - http://www.czasopisma.pan.pl/Content/120816/PDF/Z_21_02278_Bpast.No.69(6)_OK.pdf L2 - http://www.czasopisma.pan.pl/Content/120816 PY - 2021 IS - 6 EP - e139007 DO - 10.24425/bpasts.2021.139007 KW - biologically-inspired robots KW - amphibious robotics KW - mechanism design A1 - Burzynski, Piotr A1 - Simha, Ashutosh A1 - Kotta, Ülle A1 - Pawluszewicz, Ewa A1 - Sastry, Shivakumar VL - 69 DA - 27.09.2021 T1 - FLHex: a flapped-paddle hexapod for all-terrain amphibious locomotion SP - e139007 UR - http://www.czasopisma.pan.pl/dlibra/publication/edition/120816 T2 - Bulletin of the Polish Academy of Sciences Technical Sciences ER -