This paper introduces the study of the amphibian walking mechanism of a crab-liked robot based on the dynamic analysis and the experiments of underwater walking of a crab-liked robot. Given the characteristics of the underwater locomotion of crabs, a dynamic model in water was analyzed with discussions on the inversed pendulum model and the static liquid drag. The analytical results indicated that hydrodynamics had great influence on the gait of underwater walking. And based on the theoretical analysis, a novel gait was created that was defined as 'knocking-floating gait' and used in the experiments of underwater walking of the crab-liked robot.Furthermore, it was found that the novel gait presented higher stability and larger speed than the alternating tetrapod gait in underwater walking of the crab-liked robot.
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