Empirical Study on Shapes of the Foot Pad and Walking Gaits for Water-Running Robots  

作　　者：HyunGyu Kim Yanheng Liu Kyungmin Jeong TaeWon Seo 

机构地区：[1]School of Mechanical Engineering, Yeungnam University, Gyeongsan 712-749, Republic of Korea [2]Nuclear Convergence Technology Division, Korea Atomic Energy Research Institute, Daejeon 305-353, Republic of Korea

出　　处：《Journal of Bionic Engineering》2014年第4期572-580,共9页仿生工程学报（英文版）

摘　　要：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.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.

关 键 词：water-running robot geometric parameter GAIT bio-inspired robot experimental study 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] P332.2[自动化与计算机技术—控制科学与工程]