Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Experimental Study on Rolling Stability of Quadruped and Hexapedal Water Running Robots

4족과 6족 보행을 하는 수면 주행 로봇의 안정성 실험 연구

  • Kim, HyunGyu (School of Mechanical Engineering, Yeungnam Univ.) ;
  • Kim, Jung Hyun (School of Mechanical Engineering, Yeungnam Univ.) ;
  • Seo, ByungHoon (School of Mechanical Engineering, Yeungnam Univ.) ;
  • Seo, TaeWon (School of Mechanical Engineering, Yeungnam Univ.)
  • 김현규 (영남대학교 기계공학부) ;
  • 김정현 (영남대학교 기계공학부) ;
  • 서병훈 (영남대학교 기계공학부) ;
  • 서태원 (영남대학교 기계공학부)
  • Received : 2013.07.16
  • Accepted : 2013.09.05
  • Published : 2013.10.01
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Abstract

Water running animals such as basilisk lizards have an advantage of high-speed movement and high power efficiency on water; so researchers in robotic fields have been interested in the water running locomotion. This paper presents prototype-design and experimental study on the fourand six-legged water running robot. Based on the previously proposed quadruped water running robot, we assemble a hexapedal water running robot. The legs of the water running robot are designed based on four-bar parallel link for repeated motion along to pre-defined path. Stability performance of the quadruped and hexapedal water running robot are investigated by experiments on rolling criterion. As a result, hexapedal robot performs better stability than quadruped robot. Based on the hexapedal robot design, we are planning to optimize the position of legs and operating frequency.

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References

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