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Water bouncing robots: a first step toward large-scale water running robots

Published online by Cambridge University Press:  21 October 2014

Paolo Gallina ,
Gabriele Bulian  and
Giovanni Mosetti
Paolo Gallina*
Affiliation:
Department of Engineering and Architecture, University of Trieste, Trieste, Italy
Gabriele Bulian
Affiliation:
Department of Engineering and Architecture, University of Trieste, Trieste, Italy
Giovanni Mosetti
Affiliation:
Department of Engineering and Architecture, University of Trieste, Trieste, Italy
*
*Corresponding author. E-mail: pgallina@units.it
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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.

Keywords

Aquatic propulsionWater runningAquatic robotWater bouncing modelSlammingPogo-stick

Information

Type
Articles
Information
Robotica , Volume 34 , Issue 7 , July 2016 , pp. 1659 - 1676
Copyright
Copyright © Cambridge University Press 2014 

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