JOURNAL BROWSE
Search
Advanced SearchSearch Tips
Robust Optimal Design of Tail Geometry for Stable Water-running Robots
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Robust Optimal Design of Tail Geometry for Stable Water-running Robots
Lee, DongGyu; Jang, JaeHyung; Seo, TaeWon;
  PDF(new window)
 Abstract
Biomimetics involves the design of robotic platforms inspired from living creatures to achieve efficient operation under environmental conditions. A development within biomimetics involves investigating the function of a tail and applying it to robot design. This study aims to define the function of a static tail for water-running robots, and optimize its geometric and compliance parameters. The rolling angle of the tail is determined by the objective function, while the area and fillet ratio are used for geometric design and compliance parameters in the rolling and yawing directions. Repeated motion of the water-running robot`s footpads at frequencies of 9 and 10 Hz is used as the operating condition. Robust design based on the Taguchi methodology is performed via orthogonal arrays. The optimized tail design derived in this study will be implemented in a robotic platform to improve steering and balancing functions in the pitching direction.
 Keywords
Basilisk lizard;Static tail;Optimal design;Stability;
 Language
Korean
 Cited by
 References
1.
He, Q., Yu, M., Li, Y., Chen, X., Zhang, H., Gong, L., Dai, Z., 2014, Adhesion Characteristics of a Novel Synthetic Polydimethylsiloxane for Bionic Adhesive Pads, Journal of Bionic Engineering, 11:3 371-377. crossref(new window)

2.
Wang, G., Guo, Z., Liu, W., 2014, Interfacial Effects of Superhydrophobic Plant Surfaces: A Review, Journal of Bionic Engineering, 11:3 325-345. crossref(new window)

3.
Floyd, S., Sitti, M., 2008, Design and Development of the Lifting and Propulsion Mechanism for a Biologically Inspired Water Runner Robot, IEEE Transaction on Robotics, 24:3 698-709. crossref(new window)

4.
Kim, H., Lee, D., Jeong, K., Seo, T., 2015, Water and Ground-running Robotic Platform by Repeated Motion of Six Spherical Footpads, IEEE-ASME Transaction on Mechatronics, 21:1 175-183.

5.
Briggs, R., Lee, J., Haberland, M., Kim, S., 2012, Tails in Biomimetic Design: Analysis, Simulation, and Experiment, IEEE/RSJ International Conference on Intelligent Robots and Systems, 1473-1480.

6.
Fisher, C., Patel, A., 2014, Preparation of Papers for IFAC Conferences & Symposia: Flip Bot: A Lizard Inspired Stunt Robot, The International Federation of Automatic Control, 4837-4842

7.
Libby, T., Moore, T., Chang-siu, E., Cohen, D., Jusufi, A., Full, R., 2012, Tail-assisted Pitch Controin Lizards, Robots and Dinosaurs, Nature, 481 181-184. crossref(new window)

8.
Kohut, N., Zarrouk, D., Peterson, K., Fearing, R., 2013, Aerodynamic Steering of a 10cm High-speed Running Robot, IEEE/RSJ International Conference on Intelligent Robots and Systems, 5593-5599.

9.
Kim, H., Lee, D., Seo, T., 2015, Rolling Stability Enhancement Via a Balancing Tail for Water-running Robots, Journal of Bionic Engineering, 12:3 395-405. crossref(new window)

10.
Park, H., Floyd, S., Sitti, M., 2009, Roll and Pitch Motion Analysis of a Biologically Inspired Quadruped Water Runner Robot, International Journal of Robotics Research, 29:10 1281-1297.

11.
Lee, D. G., Kim, H., Seo, T., 2016, Experimental Study on Drag-induced Balancing Via a Static Tail for Water-running Robot, Journal of Bionic Engineering, Accepted for Publication.

12.
Lee, S.-J., Lee, J. H., Lee, D. Y., Seo, T., Kim, J. H., 2014, Optimal Parametric Design of Coil Gun to Improve Muzzle Velocity, Journal of the Korean Society of Manufacturing Technology Engineers, 23:4 408-412. crossref(new window)

13.
Choi, J. H., Kim, J. H, Park, S.-S., Seo, T., 2014, Robust Optimum Design of Resonance Linear Electric Generator for Vehicle Suspension, Journal of the Korean Society of Manufacturing Technology Engineers, 23:4 403-407. crossref(new window)

14.
Liu, Y., Shin, M., Seo, T., 2014, Optimization Design of Dry Adhesion for Wall-climbing Robot on Various Curvatures Based on Experiment, Journal of the Korean Society of Manufacturing Technology Engineers, 23:4 398-402. crossref(new window)