Dynamics Analysis of Fluid-Structure Interaction for a Biologically-Inspired Biped Robot Running on Water

Xu, Linsen; Cao, Kai; Wei, Xianming; Shi, Yungao

doi:10.5772/57097

Cited by 10 publications

(7 citation statements)

References 10 publications

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“…Biped legged robot is inspired by the basilisk lizard that utilizes lift force instead of surface tension or buoyancy force to overcomes the weight of the body and propel it forward when the foot of the basilisk lizard splash on the water surface,while pushing the volume of water creates air vacuum which generates lift force and forward thrust. Xu et al [35] performed an analysis using fluid-structure interaction dynamics considering cylindrical coordinates, depression motion, and air compression flow on the water surface to obtain reaction pressure by water surface on foot when the feet slaps on the water surface. The biped robot accomplishes water walking with a forward thrust and lift force generated by an air pocket above and around the foot because of foot pressure displacing the water in a downward direction.…”

Section: ) Biped Amphibious Locomotionmentioning

confidence: 99%

“…The leg mechanism of the legged Amphibious robot is serially connected links that undergo swing and stride phase, each link joint provides a single degree of freedom achieving reversibility over irregular terrain.The kinematic and dynamic models of the amphibious robots have different behavior on different environments while crawling on land and swimming in water. The kinematic analysis of bipedal robot is performed by Xu et al [35], the propulsion mechanism employs six bar plane Watt-I linkage mechanism as shown in Figure 2. The trajectory of point end effector G in the world coordinate frame is derived from Equation 1x G y G a…”

Section: E Kinematic and Dynamic Models Of Amphibious Robotmentioning

confidence: 99%

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Locomotion Strategies for Amphibious Robots-A Review

et al. 2021

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In the past two decades, unmanned amphibious robots have proven the most promising and efficient systems ranging from scientific, military, and commercial applications. The applications like monitoring, surveillance, reconnaissance, and military combat operations require platforms to maneuver on challenging, complex, rugged terrains and diverse environments. The recent technological advancements and development in aquatic robotics and mobile robotics have facilitated a more agile, robust, and efficient amphibious robots maneuvering in multiple environments and various terrain profiles. Amphibious robot locomotion inspired by nature, such as amphibians, offers augmented flexibility, improved adaptability, and higher mobility over terrestrial, aquatic, and aerial mediums. In this review, amphibious robots' locomotion mechanism designed and developed previously are consolidated, systematically The review also analyzes the literature on amphibious robot highlighting the limitations, open research areas, recent key development in this research field. Further development and contributions to amphibious robot locomotion, actuation, and control can be utilized to perform specific missions in sophisticated environments, where tasks are unsafe or hardly feasible for the divers or traditional aquatic and terrestrial robots.

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Section: ) Biped Amphibious Locomotionmentioning

confidence: 99%

Section: E Kinematic and Dynamic Models Of Amphibious Robotmentioning

confidence: 99%

Locomotion Strategies for Amphibious Robots-A Review

et al. 2021

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“…Some mature methods are utilized in the fault diagnosis of wheeled, legged, climbing and flying robots (Xu et al, 2013, 2015). For instance, Liu and Chen (2011) integrated Kalman filters and an expert system to diagnose several fault modes in corresponding movement states.…”

Section: Introductionmentioning

confidence: 99%

Fault diagnosis of a selective compliance assembly robot arm manipulator based on the end joint motion analysis: Threshold algorithm and experiments

Fei

Yang

et al. 2017

Transactions of the Institute of Measurement and Control

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This paper presented a method to carry out fault diagnosis via analyzing the motion signals of a SCARA. To analyze the motion signals of the end joint of a selective compliance assembly robot arm (SCARA) and carry out fault diagnosis. A model parameter-based threshold algorithm is proposed in this study to improve the efficiency of the fault diagnosis on the end joint of a SCARA manipulator. The operation state of the robot is determined by comparing the speed curve of the end joint of the robot with the threshold using the proposed algorithm. Firstly, the threshold range of the system output is estimated using the speed observer constructed via parameter separation. Secondly, the acceleration signals of the end joint of the robot are collected at various operational angular speeds by a single acceleration sensor installed at the end joint of the manipulator. The operation state of the robot is evaluated by analyzing the trend and vibration characteristics of its acceleration. Finally, experiments are conducted at three different speeds: 2.4rad/s, 3.12rad/s and 3.6rad/s. Some robot malfunctions are detected by comparing the actual speed with the threshold. Thus, the proposed method can be used to monitor the variation signal in each robot joint through a single accelerometer mounted on the top of the manipulator.

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“…Recently, Xu et al suggested another water-running robot that used a Watt-I linkage for the legs [21]. They also analyzed the dynamic performance of Water and ground-running robotic platform by repeated motion of six spherical footpads HyunGyu Kim, Dong Gyu Lee, Kyungmin Jeong, and TaeWon Seo, Member, IEEE B water-surface interaction theoretically [22]. Ground walking by lizards has been researched.…”

Section: Introductionmentioning

confidence: 99%

Water and ground-running robotic platform by repeated motion of six spherical footpads

Kim

Lee

Jeong

et al. 2015

IEEE/ASME Trans. Mechatron.

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Bio-inspired robotic platforms are based on knowledge from nature. Most robots focus on a single type of locomotion, such as walking or flying. However, multi-locomotive robots have recently attracted considerable attention from researchers. In this study, an amphibious robotic platform was developed for operating on water and ground surfaces with a single design. The robot uses spherical footpads to remain on the water surface based on buoyancy and drag forces. Ground walking is also achieved by repeated tripod motion of the spherical footpads. The Klann mechanism was adopted and optimized to achieve the footpad motion for stable locomotion on both surfaces. The velocity and pitching angle were analyzed by simulation and experiments at various operating frequencies to validate the performance of the platform. This robot could be applied in nuclear power plant accidents after hydrodynamic force-based steering by the tail is achieved.Index Terms-Amphibious locomotion, bio-inspiration, optimal design, Klann mechanism, tripod gait, water-running robot.1083-4435 (c)

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Dynamics Analysis of Fluid-Structure Interaction for a Biologically-Inspired Biped Robot Running on Water

Cited by 10 publications

References 10 publications

Locomotion Strategies for Amphibious Robots-A Review

Locomotion Strategies for Amphibious Robots-A Review

Fault diagnosis of a selective compliance assembly robot arm manipulator based on the end joint motion analysis: Threshold algorithm and experiments

Water and ground-running robotic platform by repeated motion of six spherical footpads

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