Eccentric paddle mechanism (ePaddle) is a module of an amphibious robot, that exhibits high environmental adaptability and can achieve six major types of gait. In this paper, we refine the concept further by considering the effects of paddle motion parameters on the operation of the ePaddle to access soft terrains. Experimental results are used to evaluate the effect of inclination angle and sinkage length of paddle on ePaddle's locomotion performance.
