期刊
JOURNAL OF BIONIC ENGINEERING
卷 11, 期 4, 页码 572-580出版社
SPRINGER SINGAPORE PTE LTD
DOI: 10.1016/S1672-6529(14)60068-8
关键词
water-running robot; geometric parameter; gait; bio-inspired robot; experimental study
资金
- National Research Foundation of Korea (NRF) grant - Ministry of Education, Science and Technology (MEST) of the Korean government [2013M2A8A1051061]
- National Research Foundation of Korea [2012M2A8A1029350] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
Recently, various kinds of biomimetic 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 sufficient 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.
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