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A Bio-Inspired Biped Water Running Robot Incorporating the Watt-I Planar Linkage Mechanism 被引量:10
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作者 Linsen Xu Tao Mei +2 位作者 Xianming Wei Kai Cao Mingzhou Luo 《Journal of Bionic Engineering》 SCIE EI CSCD 2013年第4期415-422,共8页
In this paper, a biped water running robot is developed by mimicking the water-running pattern of basilisk lizards. The dynamic mechanism of the robot was studied based on Watt-I planar linkages, and the movement traj... In this paper, a biped water running robot is developed by mimicking the water-running pattern of basilisk lizards. The dynamic mechanism of the robot was studied based on Watt-I planar linkages, and the movement trajectory of the double bar Assur Group was deduced to simulate the water-running foot trajectories of the basilisk lizard. A Central Pattern Generator (CPG)-based fuzzy control method was proposed to control the robot for realizing balance control and gait adjustment. The effectiveness of the proposed control method was verified on the prototype of a water running robot (weight: 320 g). When the biped robot is running on water, the average force generated by the propulsion mechanism is 1.3 N, and the robot body tilt angle is 5~. The experiment results show that the propulsion mechanism is effective in realizing the basilisk lizards-like water running patterns, and the CPG-based fuzzy control method is effective in keeping the balance of the robot. 展开更多
关键词 bio-inspired robot basilisk lizards-like robot biped water running CPG-based fuzzy control
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