Optimization Synthesis on Water Running Mechanism of Biped Robot

Lin Sen Xu; Bing Li; Feng Xu; Jiang Hai Zhao; Bao Lin Feng

doi:10.4028/www.scientific.net/AMR.211-212.454

Paper Titles

Finite Element Analysis and Structural Optimization of the Box on the ANSYS Workbench
p.434

Activated Nitrogen-Enriched Carbon/Reduced Expanded Graphite Composites for Supercapacitors
p.440

Functional Material and their Application in Water Environmental Protection
p.445

Optimization Design and Buckling Analysis of ZLP500L Type Suspended Platform
p.449

Optimization Synthesis on Water Running Mechanism of Biped Robot
p.454

Class Dependent Face Recognition with 3D Deformable Model
p.460

Rigorous Coupled Wave Analysis of Surface Plasmon Resonance Sensor Based on Metallic Grating
p.465

Estimation of Physical Parameters Using Learning Algorithm in Precision Positioning Control
p.469

A Method of Automatic Detection and Avoidance of Local Interference in Five-Axis Machining with Flat-End Cutter
p.474

HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 211-212Optimization Synthesis on Water Running Mechanism...

Optimization Synthesis on Water Running Mechanism of Biped Robot

Abstract:

A mechanism based on a four-linkage mechanism and a hybrid-drive six-linkage mechanism is designed to imitate the function of the basilisk lizard running on water. The kinematics analysis of the water running mechanism is carried out by using the linkage mechanism kinematics and the D-H method. Then the stability analysis of the mechanism is carried out according to the critical conditions. At last the mechanism is simulated and optimized for getting the maximum momentum in the slap phase and the maximum force in the stroke phase. And the simulation result shows that the mechanism can satisfy the requirement of biped water running.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Advanced Materials Research (Volumes 211-212)

Pages:

454-459

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.211-212.454

Citation:

Cite this paper

Online since:

February 2011

Authors:

Lin Sen Xu, Bing Li, Feng Xu, Jiang Hai Zhao, Bao Lin Feng

Keywords:

Biped Robot, Optimization Synthesis, Stability Analysis, Water Running

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Zhang Zhaolong, Zhuang Yan, Jin Yingbo, et al. The Research and Development of Water Stride Robot Control System [J]. Machine Tool & Hydraulics, vol. 9 (2008), pp.98-100.

Google Scholar

[2] Steven Floyd, Terence Keegan, John Palmisano, et al. A Novel Water Running Robot Inspired by Basilisk Lizards [C]. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (2006), pp.5430-5436.

DOI: 10.1109/iros.2006.282111

Google Scholar

[3] S. Tonia Hsieh and George V. Lauder. Running on water: Three-dimensional force generation by basilisk lizards [J]. PNAS, vol. 101 (2004), pp.16784-16788.

DOI: 10.1073/pnas.0405736101

Google Scholar

[4] J. Glasheen and T. MacMahon. Size-Dependence of Water-Running Ability in Baslisk Lizard [J]. The Journal of Experimental Biology (1996), pp.2611-2618.

Google Scholar

[5] Floyd Steven, Metin Sitti. Design and Development of the Lifting and Propulsion Mechanism for a Biologically Inspired Water Runner Robot [J]. IEEE transactions on robotics, vol. 24 (2008), pp.698-709.

DOI: 10.1109/tro.2008.924258

Google Scholar

[6] Wang Ruhui and Li Ruiqin. Path-Properties and Optimal Design of Hybrid-driven Six-Bar Mechanism [J]. Machine Design and Research, vol. 25(2009), pp.40-43.

Google Scholar

[7] Hyun Soo Park, Steven Floyd, and Metin Sitti. Dynamic Modeling and Analysis of Pitch Motion of a Basilisk Lizard Inspired Quadruped Robot Running on Water[C]. 2009 IEEE International Conference on Robotics and Automation (2009), pp.2655-2660.

DOI: 10.1109/robot.2009.5152556

Google Scholar