Experimental research on locomotion characters of water strider and movement realization on a water strider robot

Wang, Lan; Gao, Tiehong; Gao, Feng; Xue, Yadong; Wang, Yu

doi:10.1109/robio.2010.5723391

Cited by 13 publications

(15 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Obstacle negotiation or avoidance is still an improvement area of research. With a unique mechanism like a five-bar mechanism [47], QAR has evaluated gait trajectories adaptable to multiple environments. However, the design limits its walking speed on the ground and smooth gait transition between the medium for practical applications.…”

Section: B Discussionmentioning

confidence: 99%

“…Small and lighter amphibious quadruped [46] like water strider inspires robot locomotion on the water surface utilizing surface tension force instead of buoyancy force that other animals use; it takes advantage of the scaling effect on water surface motion. The water striders [47] are lightweight, just weighing 0.01 g, which benefits them for high-speed locomotion capability up to 1.5 m/s. The author proposes studying static and dynamic interaction between the legs of the water strider and the water surface.…”

Section: ) Biped Amphibious Locomotionmentioning

confidence: 99%

See 1 more Smart Citation

Locomotion Strategies for Amphibious Robots-A Review

et al. 2021

View full text Add to dashboard Cite

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.

show abstract

Section: B Discussionmentioning

confidence: 99%

Section: ) Biped Amphibious Locomotionmentioning

confidence: 99%

Locomotion Strategies for Amphibious Robots-A Review

et al. 2021

View full text Add to dashboard Cite

show abstract

“…The advanced applications involve dynamically changing underwater environments like deep-sea exploration, pipeline inspection, and structure monitoring. The reconnaissance and search and rescue operation also involves the locomotion capabilities of these mechanisms to change their locomotion at the transition region [4]. The challenging environment has motivated researchers in robotics to explore research avenues for locomotion and propulsive mechanism design and development of the amphibious robot.…”

Section: Introductionmentioning

confidence: 99%

“…The robot developed by ijspreet et al [18] takes inspiration from the salamander; the flexible body movement makes smooth locomotion in the water, and legs are utilized for walking on the ground. The robot inspired by the water strider utilizes surface tension to locomote on the water surface [4]. yusuf et al [19] presents an amphibious robot focusing on optimized path planing of amphibious robot using ant colony optimization technique and also, identifies walking gaits of amphibious robot to manueve on-land and underwater environment.…”

Section: Introductionmentioning

confidence: 99%

Design and Modeling of Klann Mechanism-Based Paired Four Legged Amphibious Robot

et al. 2021

View full text Add to dashboard Cite

The ability of the amphibious robot to walk on dry land and swim in the water motivates many researchers to explore the structural design strategies and control methods of the system. In this research, the paired four-legged amphibious robot is designed and modeled. The optimized Klann linkage mechanism is applied as the mechanism of the robot's leg. The kinematic analysis of the designed model is performed in SAM (Simulation and Analysis of Mechanisms) to study the motion trajectory of the system. The inverse dynamic analysis is used to obtain the driving torque of the actuator for the designed amphibious robot. The results demonstrate that the trajectory path of the lower part of the foot in the Klann mechanism is more horizontal than the four-bar mechanism and resulting in higher propulsion of the Klann mechanism than the four-bar mechanism. The simulation also reveals that the amphibious robot has the capability to maneuver and thus validate the ability of the designed model.

show abstract

“…Water strider, a very common insect that lives on water, has attracted attention of researchers from many fields, such as biology, material, physics and engineering due to its superhydrophobic skin and agile water-surface locomotion [1], [2]. At present, relevant research mainly focuses on the following four aspects: (1) water strider's superhydrophobicity and water-surface locomotion [3], [4], (2) biomimetic superhydrophobic materials [5]- [8], (3) fluid dynamics at the air-water interface [9]- [12], and (4) water strider-inspired water-walking robots [5], [13]- [20]. Among them, miniature/micro water-walking robots have become an active area of study because of their potential to carry out various aquatic tasks such as water quality monitoring, aquatic search and rescue.…”

Section: Introductionmentioning

confidence: 99%

A miniature surface tension-driven robot mimicking the water-surface locomotion of water strider

Zhang

Yan

Zhao

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

Aiming at mimicking water strider's water-surface locomotion, this study proposes a new miniature surface tension-driven robot. A key feature of this robot is that its actuating legs possess ellipse-like spatial trajectories like water strider by using a cam-link mechanism, and never pierces water surface when rowing. A set of simple models and equations are proposed to analyze the interaction forces between leg and water as well as the critical condition for a leg penetrating a water surface. The final fabricated robot weights about 3.9 g with a load capacity of 5.6 g. By controlling the motions of actuating legs, the robot can freely and stably walk on water with different gaits. The maximum forward and turning speeds of the robot are measured as 16 cm/s and 23 °/s, respectively. Moreover, a similarity analysis with Bond Number and Weber Number reveals that the locomotion of this robot is quite analogous to that of a water strider: surface tension force dominates the lifting force and plays a major role in the propulsion.

show abstract

Experimental research on locomotion characters of water strider and movement realization on a water strider robot

Cited by 13 publications

References 6 publications

Locomotion Strategies for Amphibious Robots-A Review

Locomotion Strategies for Amphibious Robots-A Review

Design and Modeling of Klann Mechanism-Based Paired Four Legged Amphibious Robot

A miniature surface tension-driven robot mimicking the water-surface locomotion of water strider

Contact Info

Product

Resources

About