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http://dx.doi.org/10.7736/KSPE.2013.30.10.1023

Experimental Study on Rolling Stability of Quadruped and Hexapedal Water Running Robots  

Kim, HyunGyu (School of Mechanical Engineering, Yeungnam Univ.)
Kim, Jung Hyun (School of Mechanical Engineering, Yeungnam Univ.)
Seo, ByungHoon (School of Mechanical Engineering, Yeungnam Univ.)
Seo, TaeWon (School of Mechanical Engineering, Yeungnam Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.30, no.10, 2013 , pp. 1023-1029 More about this Journal
Abstract
Water running animals such as basilisk lizards have an advantage of high-speed movement and high power efficiency on water; so researchers in robotic fields have been interested in the water running locomotion. This paper presents prototype-design and experimental study on the fourand six-legged water running robot. Based on the previously proposed quadruped water running robot, we assemble a hexapedal water running robot. The legs of the water running robot are designed based on four-bar parallel link for repeated motion along to pre-defined path. Stability performance of the quadruped and hexapedal water running robot are investigated by experiments on rolling criterion. As a result, hexapedal robot performs better stability than quadruped robot. Based on the hexapedal robot design, we are planning to optimize the position of legs and operating frequency.
Keywords
Water running robot; Bio-inspired robot; Quadruped robot; Hexapedal robot; Experimental study;
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Times Cited By KSCI : 2  (Citation Analysis)
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