中文摘要：

对足板驱动两栖机器人陆地运动进行研究，在分析足板驱动两栖机器人的运动学和动力学基础上，采用虚拟样机技术建立了考虑足板与地面接触的仿真模型。通过仿真研究了机器人做匀速运动时地面对足板的冲击以及电机驱动力矩的变化情况，从而指导电机选型和机械结构设计，同时为分析机器人系统的动态特性提供了依据。

英文摘要：

Based on the analysis of kinematics and dynamics of paddles driving amphibious robot the simulation model considering contact between paddles and ground was established. Through simulation,the change of impact course of ground to paddles and drive torque of motor were studied when its speed equal. Which could help to choose the suitable motors ,design the mechanical structure and offer the gist for researching the dynamic performance further.