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Bio-inspired robotic dog paddling: kinematic and hydro-dynamic analysis

机译：生物启发机器人狗划桨：运动和水力动力学分析

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摘要

Research on quadrupedal robots inspired by canids or felids have been widely reported and demonstrated. However, none of these legged robots can deal with difficult environments that include water, such as small lakes, streams, rain, mud, flooded terrain, etc. In this paper, we present for the first time a kinematic analysis and a hydrodynamic model of dog paddling motion in a robotic system. The quadrupedal paddling gait of dogs was first analyzed based on underwater video recording. Hydrodynamic drag force analysis in a paddling gait cycle was conducted for a prototype robotic dog. The prototype robotic dog was developed using four pre-charged pneumatics soft actuators with consideration of relative positions of CG (center of gravity) and CB (center of buoyancy) and their dynamic variation in paddling. It was found that such soft actuators have great potential in developing amphibious legged robots, because they are inherently water-tight, anti-rusty, simple in structural design, and have large hydrodynamic advantage due to their mostly hemi-cylindrical shape design. Trotting and paddling of the prototype robotic dog was also demonstrated. It is believed that our findings reported in this research will provide useful guidance in future development of amphibious robotic dogs.
机译：广泛报道和证明了由CAIID或FELID启发的四桥机器人的研究。然而，这些腿机器人都不能处理包括水的困难环境，例如小湖泊，溪流，雨，泥浆，淹没的地形等。在本文中，我们首次出现了一种运动学分析和流体动力学模型狗划桨在机器人系统中的运动。首先基于水下视频录制分析了狗的四桥划桨步态。划桨步态循环中的流体动力阻力分析用于原型机器人犬。原型机器人使用四种预充电的气动性软件致动器开发，考虑了CG（重心）和CB（浮力中心）的相对位置及其在划桨中的动态变化。结果发现，这种软致动器在开发两栖腿机器人方面具有很大的潜力，因为它们具有固有的防水，防锈，结构设计，具有大的流体动力学优势，由于它们大多是半圆柱形设计。还证明了原型机器人狗的小跑和划桨。据信，我们在本研究中报告的调查结果将在未来的两栖机械犬的发展中提供有用的指导。

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