Hostname: page-component-76fb5796d-zzh7m Total loading time: 0 Render date: 2024-04-25T16:03:14.478Z Has data issue: false hasContentIssue false
  • English
  • Français

Water bouncing robots: a first step toward large-scale water running robots

Published online by Cambridge University Press:  21 October 2014

Paolo Gallina ,
Gabriele Bulian  and
Giovanni Mosetti
Paolo Gallina*
Affiliation:
Department of Engineering and Architecture, University of Trieste, Trieste, Italy
Gabriele Bulian
Affiliation:
Department of Engineering and Architecture, University of Trieste, Trieste, Italy
Giovanni Mosetti
Affiliation:
Department of Engineering and Architecture, University of Trieste, Trieste, Italy
*
*Corresponding author. E-mail: pgallina@units.it
Get access Rights & Permissions [Opens in a new window]

Summary

Robots running on water have attracted the attention of researchers in the last decades as an alternative to conventional aquatic propulsion mechanisms. Up to now, a large scale robot capable of running on water has not been realized. Bouncing on water is a prerequisite for running on water. For this reason, the development of a water bouncing robot represents a necessary first step. The paper presents the model of a 2-degree-of-freedom water bouncing robot inspired by the pogo-stick, a device for jumping off the ground in a standing position. An analytical model of the impact force between “robot's foot” and water is provided for both water-entry and water-exit phases. Such a model has been integrated in a dynamic simulation of whole robot. The model represents a useful and general framework to gain an insight into the parameters that characterize the efficiency of robot.

Keywords

Aquatic propulsionWater runningAquatic robotWater bouncing modelSlammingPogo-stick
Type
Articles
Information
Robotica , Volume 34 , Issue 7 , July 2016 , pp. 1659 - 1676
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Bush, J. W. M. and Hu, D. L., “Walking on water: Bio-locomotion at the interface,” Annu. Rev. Fluid Mech. 38, 339–369 (2006).CrossRefGoogle Scholar
2.De Backer, G., Vantorre, M., Beels, C., De Pré, J., Victor, S., De Rouck, J., Blommaert, C. and Van Paepegem, W., “Experimental investigation of water impact on axisymmetric bodies,” Appl. Ocean Res. 31, 143–156 (2009).Google Scholar
3.Faltinsen, O. M., Hydrodynamics of High Speed Marine Vehicles (Cambridge University Press, Cambridge, UK, 2005).Google Scholar
4.Faltinsen, O. and Zhao, R., “Water Entry of Ship Sections and Axisymmetric Bodies,” Proceedings of the AGARD FDP Workshop on High Speed Body Motion in Water, Kiev, Ukraine (Sep. 1–3, 1997) pp. 24-1–24-11.Google Scholar
5.Floyd, S. and Sitti, M., “Design and development of the lifting and propulsion mechanism for a biologically inspired water runner robot,” IEEE Trans. Robot. 24 (3), 698–709 (2008).Google Scholar
6.Floyd, S., Adilak, S., Ramirez, S., Rogman, R. and Sitti, M., “Performance of Different Foot Designs for a Water Running Robot,” Proceedings – IEEE International Conference on Robotics and Automation, 4543216 (2008) pp. 244–250.Google Scholar
7.Glasheen, J. W. and McMahon, T. A., “Size-dependence of water-running ability in basilisk lizards (Basiliscus basiliscus),” J. Exp. Biol. 199, 2611–2618 (1996a).Google Scholar
8.Glasheen, J. and McMahon, T., “A hydrodynamic model of locomotion in the basilisk lizard,” Nature 380, 340–342 (1996b).Google Scholar
9.Glasheen, J. and McMahon, T., “Vertical water entry of disks at low Froude numbers,” Phys. Fluids 8, 2078–2083 (1996c).Google Scholar
10.Hyun, S. P., Floyd, S. and Sitti, M., “Dynamic Modelling of a Basilisk Lizard-Inspired Quadruped Robot Running on Water,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 4651084 (2008) pp. 3101–3107.Google Scholar
11.Lamb, H., Hydrodynamics, 6th ed. (Cambridge University Press, Cambridge, UK, 1932).Google Scholar
12.Martin, P. A., “On the added mass of rippled discs,” J. Eng. Math. 33, 421–435 (1998).Google Scholar
13.Pandey, J., Reddy, N. S., Ray, R. and Shome, S. N., “Biological Swimming Mechanism Analysis and Design of Robotic Frog,” IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2013), 6618176 (2013) pp. 1726–1731.Google Scholar
14.Piro, D. and Maki, K. J., “Hydroelastic Wedge Entry and Exit,” Proceedings of the 11th International Conference on Fast Sea Transportation (FAST 2011), Honolulu, Hawaii (Sep. 2011).Google Scholar
15.Scolan, Y. M. and Korobkin, A. A., “Three-dimensional theory of water impact, part 1 inverse wagner problem,” J. Fluid Mech. 440, 293–326 (2001).Google Scholar
16.Shin, B., Kim, H.-Y. and Cho, K.-J., “Towards a Biologically Inspired Small-Scale Water Jumping Robot,” 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008), 4762896 (2008) pp. 127–131.Google Scholar
17.Von Karman, T., “The Impact on Seaplane Floats during Landing,” Tech. Note No. 321 (NACA, Washington, 1929).Google Scholar
18.Wang, L., Gao, T., Gao, F., Dong, L. and Wu, J., “Dynamic Research on a Water Walking Robot Inspired by Water Striders,” Proceedings of the Second International Symposium on Computer Science and Computational Technology, Huangshan, P.R. China (Dec. 26–28, 2009) pp. 439–442.Google Scholar
19.Wagner, H., “Über stoss und gleitvorgänge an der oberfläche von Flüssigkeiten,” Z. Angew. Math. Mech. 12 (4), 193–235 (1932).Google Scholar
20.Zhang, X., Zhao, J., Zhu, Q., Chen, N., Zhang, M. and Pan, Q., “Bioinspired aquatic microrobot capable of walking on water surface like a water strider,” ACS Appl. Mater. Interfaces 3 (7), 2630–2636 (2011).CrossRefGoogle Scholar
21.Zhao, J., Zhang, X., Chen, N. and Pan, G., “Why superhydrophobicity is crucial for a water-jumping microrobot? Experimental and theoretical investigations,” ACS Appl. Mater. Interfaces 4 (7), 3706–3711 (2012).Google Scholar