期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
DOI：10.5772/57097
语种：English
出版社：SAGE Publications
摘要：A kinematics analysis of a biologically-inspired biped robot is carried out, and the trajectory of the robot foot is understood. For calculating the pressure distribution across a robot foot before touching the surface of water, the compression flow of air and the depression motion of the water surface are considered. The pressure model after touching the water surface has been built according to the theory of rigid body planar motion. The multi-material ALE algorithm is applied to emulate the course of the foot slapping water. The simulation results indicate that the model of the bionic robot can satisfy the water-running function. The real prototype of the robot is manufactured to test its function of running on water. When the biped robot is running on water, the average force generated by the propulsion mechanism is about 1.3N. The experimental results show that the propulsion system can satisfy the requirement of biped robot running on water.
关键词：Biped Robot; Running on Water; Dynamic Analysis; Fluid-Structure Interaction
