Compliant footpad design analysis for a bio-inspired quadruped amphibious robot

Hyun Soo Park, Metin Sitti

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages645-651
Number of pages7
DOIs
StatePublished - Dec 11 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

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