NDLI: Development of the lifting and propulsion mechanism of biped robot running on water

Content Provider	IEEE Xplore Digital Library
Author	Linsen Xu Kai Cao Tao Mei Mingzhou Luo Xianming Wei Jianghai Zhao
Copyright Year	2013
Description	Author affiliation: Hefei Inst. of Phys. Sci., Hefei, China (Linsen Xu; Kai Cao; Tao Mei; Mingzhou Luo; Xianming Wei; Jianghai Zhao)
Abstract	The basilisk lizard's function of running on water is used to analyse the dynamical mechanism of the biped robot which has the same function. The movement trajectories of the a Watt-I six-bar linkage are brought out by combining the movement equations of the four bar mechanism and the coordinate transformation equations, which are used to simulate the foot trajectories of the basilisk lizard, and the lifting and propulsion mechanism of the biped robot running on water is carried out. The links' parameters are optimized by taking the trajectories overlap ratio as the target function. The prototype of the biped robot running on water is made by the results of the kinetic analysis on the robot. And the lifting and propulsion force curve on the robot from water is measured. The experiment results show that the lifting and propulsion system satisfy the function requirement of biped robot running on water.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	2386
Ending Page	2391
File Size	1397026
Page Count	6
File Format	PDF
ISBN	9781479927449
DOI	10.1109/ROBIO.2013.6739827
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-12
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Propulsion Force Trajectory Robot kinematics Couplings
Content Type	Text
Resource Type	Article

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