A Bio-Inspired Biped Water Running Robot Incorporating the Watt-I Planar Linkage Mechanism  

作　　者：Linsen Xu Tao Mei Xianming Wei Kai Cao Mingzhou Luo 

机构地区：[1]Hefei Institutes of Physical Science, Chinese Academy of Science, Hefei 230031, P. R. China [2]University of Science and Technology of China, Hefei 230026, P. R. China [3]Changzhou Institute of Advanced Manufacturing Technology, Changzhou 213164, P. R. China

出　　处：《Journal of Bionic Engineering》2013年第4期415-422,共8页仿生工程学报（英文版）

基　　金：This work is supported by the National Natural Science Foundation of China （No. 50905175）, and the National Program on Key Basic Research Project of China （No. 2011CB302106）.

摘　　要：In this paper, a biped water running robot is developed by mimicking the water-running pattern of basilisk lizards. The dynamic mechanism of the robot was studied based on Watt-I planar linkages, and the movement trajectory of the double bar Assur Group was deduced to simulate the water-running foot trajectories of the basilisk lizard. A Central Pattern Generator （CPG）-based fuzzy control method was proposed to control the robot for realizing balance control and gait adjustment. The effectiveness of the proposed control method was verified on the prototype of a water running robot （weight： 320 g）. When the biped robot is running on water, the average force generated by the propulsion mechanism is 1.3 N, and the robot body tilt angle is 5~. The experiment results show that the propulsion mechanism is effective in realizing the basilisk lizards-like water running patterns, and the CPG-based fuzzy control method is effective in keeping the balance of the robot.In this paper, a biped water running robot is developed by mimicking the water-running pattern of basilisk lizards. The dynamic mechanism of the robot was studied based on Watt-I planar linkages, and the movement trajectory of the double bar Assur Group was deduced to simulate the water-running foot trajectories of the basilisk lizard. A Central Pattern Generator （CPG）-based fuzzy control method was proposed to control the robot for realizing balance control and gait adjustment. The effectiveness of the proposed control method was verified on the prototype of a water running robot （weight： 320 g）. When the biped robot is running on water, the average force generated by the propulsion mechanism is 1.3 N, and the robot body tilt angle is 5~. The experiment results show that the propulsion mechanism is effective in realizing the basilisk lizards-like water running patterns, and the CPG-based fuzzy control method is effective in keeping the balance of the robot.

关 键 词：bio-inspired robot basilisk lizards-like robot biped water running CPG-based fuzzy control 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH112.1[自动化与计算机技术—控制科学与工程]