Analysis and Experiment on the Steering Control of a Water-running Robot Using Hydrodynamic Forces

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.