J4 ›› 2016, Vol. 13 ›› Issue (1): 39-47.doi: 10.1016/S1672-6529(14)60158-X

• 论文 • 上一篇    下一篇

Hexapedal Robotic Platform for Amphibious Locomotion on Ground and Water Surface

HyunGyu Kim1, DongGyu Lee1, Yanheng Liu1, Kyungmin Jeong2, TaeWon Seo1   

  1. 1. School of Mechanical Engineering, Yeungnam University, Gyeongsan 712-749, Republic of Korea
    2. Nuclear Convergence Technology Div., Korea Atomic Energy Research Institute, Daejeon, 305-353, Republic of Korea
  • 收稿日期:2015-06-03 修回日期:2015-12-03 出版日期:2016-01-10 发布日期:2016-01-10
  • 通讯作者: TaeWon Seo E-mail:taewon_seo@yu.ac.kr
  • 作者简介:HyunGyu Kim1, DongGyu Lee1, Yanheng Liu1, Kyungmin Jeong2, TaeWon Seo1

Hexapedal Robotic Platform for Amphibious Locomotion on Ground and Water Surface

HyunGyu Kim1, DongGyu Lee1, Yanheng Liu1, Kyungmin Jeong2, TaeWon Seo1   

  1. 1. School of Mechanical Engineering, Yeungnam University, Gyeongsan 712-749, Republic of Korea
    2. Nuclear Convergence Technology Div., Korea Atomic Energy Research Institute, Daejeon, 305-353, Republic of Korea
  • Received:2015-06-03 Revised:2015-12-03 Online:2016-01-10 Published:2016-01-10
  • Contact: TaeWon Seo E-mail:taewon_seo@yu.ac.kr
  • About author:HyunGyu Kim1, DongGyu Lee1, Yanheng Liu1, Kyungmin Jeong2, TaeWon Seo1

摘要:

Bio-inspiration is a starting point from which to design engineering products by learning the secrets of living creatures. We present the design, analysis, and experimental results of a robotic platform inspired by the basilisk lizard, which is well known for its ability to run on water surface. The goal is to develop a robotic platform for amphibious locomotion on ground and water using a single configuration. A tripod gait is achieved with a hexapedal configuration and four-bar-based repeated motion of the legs. The hexapedal configuration is empirically proven to have an advantage in terms of rolling stability on water. On ground, the tripod gait can satisfy the requirements of static stability to make the center of gravity and center of pressure occur at the same position. The footpad design was determined based on an empirical study of the rolling stability and lifting force. The theoretical background and experimental results are presented to validate the ability of the proposed design to run on water and on the ground.

关键词: amphibious locomotion, bio-inspiration, hexapedal, empirical study, water-running robot

Abstract:

Bio-inspiration is a starting point from which to design engineering products by learning the secrets of living creatures. We present the design, analysis, and experimental results of a robotic platform inspired by the basilisk lizard, which is well known for its ability to run on water surface. The goal is to develop a robotic platform for amphibious locomotion on ground and water using a single configuration. A tripod gait is achieved with a hexapedal configuration and four-bar-based repeated motion of the legs. The hexapedal configuration is empirically proven to have an advantage in terms of rolling stability on water. On ground, the tripod gait can satisfy the requirements of static stability to make the center of gravity and center of pressure occur at the same position. The footpad design was determined based on an empirical study of the rolling stability and lifting force. The theoretical background and experimental results are presented to validate the ability of the proposed design to run on water and on the ground.

Key words: amphibious locomotion, bio-inspiration, hexapedal, empirical study, water-running robot