Designing and Kinematics Analysis on Running Mechanism of Biped Robot for Water-Running
A mechanism based on a Grashof crank-link mechanism and a hybrid-drive six-linkage mechanism is designed to fit its ankle and sole trajectories and imitate the function of the basilisk lizard running on water. The linkage mechanism kinematics theory and the geometric identity condition are used to analyze the mechanism kinematics, and an instance simulation is carried out to prove that the mechanism can satisfy the kinematics requirements of water-running.
L. S. Xu et al., "Designing and Kinematics Analysis on Running Mechanism of Biped Robot for Water-Running", Applied Mechanics and Materials, Vols. 130-134, pp. 217-221, 2012