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Bio-inspired robotic dog paddling: kinematic and hydro-dynamic analysis
Yunquan Li1, Frank Fish, Yonghua Chen
1Department of Mechanical Engineering, The University of Hong Kong, Pokfulam Road, Hong Kong, People's Republic of China.
Bioinspiration & Biomimetics
|August 21, 2019
Summary
This study introduces the first kinematic analysis and hydrodynamic model for robotic dog paddling. Soft actuators enable amphibious capabilities, paving the way for robust robotic exploration in wet environments.
Area of Science:
- Robotics
- Biomimetics
- Hydrodynamics
Background:
- Quadrupedal robots inspired by animals are common, but lack amphibious capabilities.
- Existing legged robots struggle in aquatic or flooded terrains.
Purpose of the Study:
- To develop an amphibious quadrupedal robot capable of navigating water.
- To analyze the dog paddling motion for robotic applications.
- To model the hydrodynamics of robotic paddling gait.
Main Methods:
- Analyzed quadrupedal dog paddling gait using underwater video recordings.
- Conducted hydrodynamic drag force analysis for a prototype robotic dog.
- Developed a prototype robotic dog using soft pneumatic actuators, considering center of gravity (CG) and center of buoyancy (CB).
Main Results:
- Soft actuators demonstrated potential for amphibious robots due to being watertight, anti-rusty, and having hydrodynamic advantages.
- The prototype robotic dog successfully demonstrated both trotting and paddling gaits.
- Kinematic and hydrodynamic models of dog paddling were established for robotic systems.
Conclusions:
- Soft actuators are suitable for developing robust amphibious legged robots.
- The developed robotic dog prototype shows promise for navigating diverse environments, including water.
- Findings offer guidance for future amphibious robotic dog development.
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