Robots running on water 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 yet. 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-DoF water bouncing robot. A simplified and analytical model of the impact force between the “robot’s foot” and the water is provided, both for the water-entry and water-exit phases. Such a model has been integrated in a dynamic simulation of the whole robot.
Water bouncing robot: a first step toward water running robots
GALLINA, PAOLO;BULIAN, GABRIELE;MOSETTI, GIOVANNI
2013-01-01
Abstract
Robots running on water 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 yet. 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-DoF water bouncing robot. A simplified and analytical model of the impact force between the “robot’s foot” and the water is provided, both for the water-entry and water-exit phases. Such a model has been integrated in a dynamic simulation of the whole robot.Pubblicazioni consigliate
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