A Bio-Inspired Biped Water Running Robot Incorporating the Watt-I Planar Linkage Mechanism |
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| Authors: | Linsen Xu Tao Mei Xianming Wei Kai Cao Mingzhou Luo |
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| Institution: | [1]Hefei Institutes of Physical Science, Chinese Academy of Science, Hefei 230031, P. R. China [2]University of Science and Technology of China, Hefei 230026, P. R. China [3]Changzhou Institute of Advanced Manufacturing Technology, Changzhou 213164, P. R. China |
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| Abstract: | In this paper, a biped water running robot is developed by mimicking the water-running pattern of basilisk lizards. The dynamic mechanism of the robot was studied based on Watt-I planar linkages, and the movement trajectory of the double bar Assur Group was deduced to simulate the water-running foot trajectories of the basilisk lizard. A Central Pattern Generator (CPG)-based fuzzy control method was proposed to control the robot for realizing balance control and gait adjustment. The effectiveness of the proposed control method was verified on the prototype of a water running robot (weight: 320 g). When the biped robot is running on water, the average force generated by the propulsion mechanism is 1.3 N, and the robot body tilt angle is 5°. The experiment results show that the propulsion mechanism is effective in realizing the basilisk lizards-like water running patterns, and the CPG-based fuzzy control method is effective in keeping the balance of the robot. |
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| Keywords: | bio-inspired robot basilisk lizards-like robot biped water running CPG-based fuzzy control |
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