In this paper, we proposed an amphibious spherical robot that can search and rescue from uneven terrain and also move in narrow underwater spaces. This paper presents three control methods for an articulated amphibious spherical robot. The first is a full-dimensional that is adapted the robot to the complex amphibious terrain, in this method, relying on a novel drive mode of mecanum wheels, the power required for the movement comes from the friction generated by mecanum wheels and the spherical shell. The second control method is modeling based on a unit quaternion motion control algorithm to realized 6 Degrees of Freedoms (DoFs) movement mode. The last control algorithm is according to Archimede Buoyancy Principle (ABP) and Fuzzy Control (FC) algorithm by controlling the air density of the spherical capsules in the lower hemispheres, the relationship between buoyancy and gravity is controlled to achieve the functions of floating and diving. Experiments are performed to demonstrate the effectiveness of the proposed methods and the developed robot.

在本文中，我们提出了一种两栖球形机器人，该机器人可以在不平坦的地形上搜索和救援，并且可以在狭窄的水下空间中移动。本文提出了一种关节两栖球形机器人的三种控制方法。第一个是使机器人适应复杂的两栖地形的全尺寸，在这种方法中，依靠新颖的麦克纳姆轮驱动模式，运动所需的动力来自麦克纳姆轮和球形壳体产生的摩擦力。第二种控制方法是基于单元四元数运动控制算法进行建模，以实现6自由度（DoF）运动模式。最后一种控制算法是根据阿基米德浮力原理（ABP）和模糊控制（FC）算法，通过控制下半球的球形胶囊的空气密度，控制浮力和重力之间的关系，以实现漂浮和潜水的功能。进行实验以证明所提出的方法和所开发的机器人的有效性。