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Dynamic Modeling of a Basilisk Lizard Inspired Quadruped Robot Running on Water
(2008)2008 IEEE/RSJ International Conference on Intelligent Robots and SystemsThis paper proposes a 3-D dynamic simulation of a previously developed basilisk lizard inspired quadruped robot, which is capable of locomotion on the surface of water. Using this 3-D simulation along with several 1-D and 2-D models, stability in terms of robot elevation from the water surface and robot rolling are examined. Analysis of the lifting force shows the robot is capable of running on water using viscous drag forces. Using this ...Conference Paper -
Dynamic Modeling and Analysis of Pitch Motion of a Basilisk Lizard Inspired Quadruped Robot Running on Water
(2009)2009 IEEE International Conference on Robotics and AutomationA quadrupedal robot inspired by the basilisk lizard was developed and modeled with a 3D real time simulation. Due to the robot's geometry, leg motion, and water interactions, the net pitch moment at the center of mass is not zero making pitch motion unstable. This paper introduces two types of tails, passive and active, to stabilize pitch motion and analyzes the advantages and disadvantages of each. It is shown in simulation that a purely ...Conference Paper