A miniature surface tension-driven robot using spatially elliptical moving legs to mimic a water strider's locomotion

The highly agile and efficient water-surface locomotion of the water strider has stimulated substantial interest in biomimetic research. In this paper, we propose a new miniature surface tension-driven robot inspired by the water strider. A key feature of this robot is that its actuating leg possesses an ellipse-like spatial trajectory similar to that of a water strider by using a cam-link mechanism. Simplified models are presented to discuss the leg-water interactions as well as critical conditions for a leg penetrating the water surface, and simulations are performed on the robot's dynamic properties. The final fabricated robot weighs about 3.9 g, and can freely and stably walk on water at different gaits. The maximum forward and turning speeds of the robot are measured as 16 cm s(-1) and 23°/s, respectively. Furthermore, a similarity analysis with Bond number and Weber number demonstrates that the locomotion of this robot is quite analogous to that of a real water strider: the surface tension force dominates the lifting force and plays a major role in the propulsion force. This miniature surface tension-driven robot might have potential applications in many areas such as water quality monitoring and aquatic search and rescue.