Design and development of the lifting and propulsion mechanism for a biologically inspired water runner robot

被引:74
作者
Floyd, Steven [1 ]
Sitti, Metin [1 ]
机构
[1] Carnegie Mellon Univ, Dept Mech Engn, NanoRobot Lab, Pittsburgh, PA 15213 USA
关键词
aquatic propulsion; aquatic robot; biomimetic robots; lizard; locomotion; mobile robots; water running;
D O I
10.1109/TRO.2008.924258
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
This paper describes the design and development of a novel robot, which attempts to emulate the basilisk lizard's ability to run on the surface of water. Previous studies of the lizards themselves have characterized their means of staying afloat. The design of a biomimetic robot utilizing similar principles is discussed, modeled, and prototyped. Functionally, the robot uses a pair of identical four bar mechanisms, with a 180 degrees phase shift to achieve locomotion on the water's surface. Simulations for determining robot lift and power requirements are presented. Through simulation and experimentation, parameters are varied with the focus being a maximization of the ratio of lift to power. Four legged robots were more easily stabilized, and had a higher lift-to-power ratio than two legged robots. Decreases in characteristic length and running speed, and increases in foot diameter and foot penetration depth all cause a higher lift to power ratio. Experimental lift approached 80 gr, and experimental performance exceeded 12 gr/W for four legged robots with circular feet. This work opens the door for legged robots to become ambulatory over both land and water, and represents a first step toward robots which run on the water instead of floating or swimming.
引用
收藏
页码:698 / 709
页数:12
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