Water bouncing robots: a first step toward large-scale water running robots. Issue 7 (21st October 2014)

• Record Type: Journal Article
• Authors: Gallina, Paolo; Bulian, Gabriele; Mosetti, Giovanni
• Is Part Of: Robotica. Volume 34:Issue 7(2016)
• Page Start: 1659
• Page End: 1676
• Publication Date: 2014-10-21
• Subjects: Aquatic propulsion, -- Water running, -- Aquatic robot, -- Water bouncing model, -- Slamming, -- Pogo-stick; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574714002495
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: Robots running on water have 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. 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-degree-of-freedom water bouncing robot inspired by the pogo-stick, a device for jumping off the ground in a standing position. An analytical model of the impact force between "robot's foot" and water is provided for both water-entry and water-exit phases. Such a model has been integrated in a dynamic simulation of whole robot. The model represents a useful and general framework to gain an insight into the parameters that characterize the efficiency of robot.