TY - GEN
T1 - Compliant footpad design analysis for a bio-inspired quadruped amphibious robot
AU - Park, Hyun Soo
AU - Sitti, Metin
PY - 2009/12/11
Y1 - 2009/12/11
N2 - A quadrupedal water runner robot inspired by the basilisk lizard has previously demonstrated the capability of water surface locomotion. Since the robot is aimed for the amphibious locomotion, a compatible design on both ground and water surface is discussed in this paper. A compliant footpad which can transfer elastic energy to propulsive momentum is introduced and modeled using a pseudo-rigid-body model. Dynamic modeling of the footpad and the robot provides a criterion of efficient ground locomotion. For the water surface locomotion, drag force can be reduced by compliance of the footpad. The optimized design taking into account two locomotions is studied and analyzed for stability using the Poincaré map.
AB - A quadrupedal water runner robot inspired by the basilisk lizard has previously demonstrated the capability of water surface locomotion. Since the robot is aimed for the amphibious locomotion, a compatible design on both ground and water surface is discussed in this paper. A compliant footpad which can transfer elastic energy to propulsive momentum is introduced and modeled using a pseudo-rigid-body model. Dynamic modeling of the footpad and the robot provides a criterion of efficient ground locomotion. For the water surface locomotion, drag force can be reduced by compliance of the footpad. The optimized design taking into account two locomotions is studied and analyzed for stability using the Poincaré map.
UR - http://www.scopus.com/inward/record.url?scp=76249116785&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2009.5354680
DO - 10.1109/IROS.2009.5354680
M3 - Conference contribution
AN - SCOPUS:76249116785
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 645
EP - 651
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -