Recently, various kinds ofbiomimetic robots have been studied. Among these biomimetic robots, water-running robots that mimic the characteristics of basilisk lizards have received much attention. However, studies on t...Recently, various kinds ofbiomimetic robots have been studied. Among these biomimetic robots, water-running robots that mimic the characteristics of basilisk lizards have received much attention. However, studies on the performance with respect to different geometric parameters and gaits have been lacking. To run on the surface of water, a water-running robot needs suffi- cient force with high stability to stay above the water. We experimentally measured the performance of the foot pads with different geometric parameters and with various gaits. We measured and analyzed the forces in the vertical direction and rolling angles of five different foot pad shapes： a circular shape, square shape, half-spherical shape, open half-cylinder shape, and closed half-cylinder shape. Additionally, the rolling stabilities of three kinds of gaits： biped, trotting, and tripod, were also empirically analyzed. The results of this research can be used as a guideline to design a stable water-running robot.展开更多
Steering is important for the high maneuverability of mobile robots. Many studies have been performed to improve the maneuverability using a tail. The aim of this research was to verify the performance of a water-runn...Steering is important for the high maneuverability of mobile robots. Many studies have been performed to improve the maneuverability using a tail. The aim of this research was to verify the performance of a water-running robot steering on water using a tail. Kinematic analysis was performed for the leg mechanism and the interaction forces between the water and the feet to calculate the propulsive drag force of the water. This paper suggests a simplified planar two-link rigid body model to determine the dynamic performance of the robotic platform with respect to the effect of the tail＇s motion. Simulations based on a dynamic model were performed by applying a range of motions to the tail. In addition, a simulation with a Bang-bang controller was also performed to control the main frame＇s yawing locomotion. Finally, an experiment was conducted with the controller, and the simulation and experimental results were compared. These results can be used as a guideline to develop a steerable water-running robot.展开更多
文摘Recently, various kinds ofbiomimetic robots have been studied. Among these biomimetic robots, water-running robots that mimic the characteristics of basilisk lizards have received much attention. However, studies on the performance with respect to different geometric parameters and gaits have been lacking. To run on the surface of water, a water-running robot needs suffi- cient force with high stability to stay above the water. We experimentally measured the performance of the foot pads with different geometric parameters and with various gaits. We measured and analyzed the forces in the vertical direction and rolling angles of five different foot pad shapes： a circular shape, square shape, half-spherical shape, open half-cylinder shape, and closed half-cylinder shape. Additionally, the rolling stabilities of three kinds of gaits： biped, trotting, and tripod, were also empirically analyzed. The results of this research can be used as a guideline to design a stable water-running robot.
文摘Steering is important for the high maneuverability of mobile robots. Many studies have been performed to improve the maneuverability using a tail. The aim of this research was to verify the performance of a water-running robot steering on water using a tail. Kinematic analysis was performed for the leg mechanism and the interaction forces between the water and the feet to calculate the propulsive drag force of the water. This paper suggests a simplified planar two-link rigid body model to determine the dynamic performance of the robotic platform with respect to the effect of the tail＇s motion. Simulations based on a dynamic model were performed by applying a range of motions to the tail. In addition, a simulation with a Bang-bang controller was also performed to control the main frame＇s yawing locomotion. Finally, an experiment was conducted with the controller, and the simulation and experimental results were compared. These results can be used as a guideline to develop a steerable water-running robot.
