Surface tension driven water strider robot using circular footpads

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 3799-3804

  Ozcan, Onur ^a   Wang, Han ^a   Taylor, Jonathan D ^a   Sitti, Metin ^a  

^a CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

Biologically inspired robots; Miniature robots; Mobile robotics; Surface tension

Indexed keywords

BIOLOGICALLY-INSPIRED ROBOTS; INSECT INSPIRED ROBOTS; MINIATURE ROBOTS; MOBILE ROBOTIC; PAYLOAD CAPABILITIES; POWER EFFICIENT; PROPULSION EFFICIENCY; PROPULSION FORCE; ROTATION MECHANISM; WATER STRIDERS; WATER SURFACE;

ENERGY EFFICIENCY; PROPULSION; ROBOT APPLICATIONS; ROBOTICS; SURFACE PROPERTIES; SURFACE TENSION;

ROBOTS;

EID: 77955794046     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509843     Document Type: Conference Paper

References (16)

1. M. W. Denny, Air and Water: The Biology and Physics of Lifes Media. Princeton, NJ: Princeton University Press, 1993.
2. R. B. Suter, O. Rosenberg, S. Loeb, H. Wildman, and J. H. J. Long, "Locomotion on the water surface: Propulsive mechanisms of the fisher spider dolomes triton," Journal of Experimental Biology, vol. 200, pp. 2523-2538, 1997.
3. D. L. Hu, B. Chan, and J. W. M. Bush, "The hydrodynamics of water strider locomotion," Nature, vol. 424, pp. 663-666, 2003.
4. X. Gao and L. Jiang, "Water-repellent legs of water striders," Nature, vol. 432, p. 36, 2004.
5. J. W. M. Bush and D. L. Hu, "Walking on water: Biolocomotion at the interface," Annual Review of Fluid Mechanics, vol. 38, pp. 339-369, 2006.
6. D. Vella and P. D. Metcalfe, "Surface tension dominated impact," Physics of Fluids, vol. 19, pp. 072 108-1-11, 2007.
7. S. H. Suhr, Y. S. Song, S. J. Lee, and M. Sitti, "Biologically inspired miniature water strider robot," in Proceedings of Robotics: Science and Systems I, 2005, pp. 319-325.
8. Y. S. Song, S. H. Suhr, and M. Sitti, "Modeling of the supporting legs for designing biomimetic water strider robots," in Proceedings of IEEE International Conference on Robotics and Automation, 2006, pp. 2303-2310.
9. Y. S. Song and M. Sitti, "Stride: A highly maneuverable and non-tethered water strider robot," in Proceedings of IEEE International Conference on Robotics and Automation, 2007, pp. 980-984.
10. K. Suzuki, H. Takanobu, K. Noya, H. Koike, and H. Miura, "Water strider robots with microfabricated hydrophobic legs," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, pp. 590-595.
11. B. Shin, H. Y. Kim, and K. J. Cho, "Towards a biologically inspired small-scale water jumping robot," in Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2008, pp. 127-131.
12. Y. S. Song and M. Sitti, "Surface-tension-driven biologically inspired water strider robots: Theory and experiments," IEEE Transactions on Robotics, vol. 23, pp. 578-589, 2007.
13. S. Vogel, Life in Moving Fluids, 2nd ed. Princeton, NJ: Princeton University Press, 1994.
14. L. J. Clancy, Aerodynamics. London: Pitman Publishing Limited, 1975.
15. B. W. McCormick, Aerodynamics, Aeronautics, and Flight Mechanics. New York, NJ: John Wiley & Sons, Inc., 1979.
16. J. Luo, K. Ying, P. He, and J. Bai, "Properties of savitzky-golay digital differentiators," Digital Signal Processing, vol. 15, pp. 122-136, 2005.