JRM Vol.16 No.3 pp. 304-311
doi: 10.20965/jrm.2004.p0304


Design of the Leg Mechanism of a Water Surface Runner

Masaru Higuchi*, Hideo Tanaka**, Shingo Tsutsumi***,
Yukio Takeda*, and Hiroaki Funabashi****

*Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 Oh-okayama, Meguro-ku, Tokyo 152-8552, Japan

**Armonicos Co., Ltd.

***Yasukawa Electric Corporation

****Shibaura Institute of Technology

November 11, 2003
February 10, 2004
June 20, 2004
hydrodynamic forces, running machine, leg mechanism, optimal design, air cavity
We designed the leg mechanism of a water surface runner to generate motion with sufficient force to support and propel it the water with minimum power consumption. We studied force acting between the foot and water when the foot impacted on the water and strokes into the water experimentally. We propose leg motion so that the foot is not pulled downward by water based on observation of water behavior. Based on this formulation and idea, we obtained optimal foot motion through simulations and designed the leg mechanism, then designed and built a prototype water surface runner. We discuss its motion and the force acting on the foot together with experimental results.
Cite this article as:
M. Higuchi, H. Tanaka, S. Tsutsumi, Y. Takeda, and H. Funabashi, “Design of the Leg Mechanism of a Water Surface Runner,” J. Robot. Mechatron., Vol.16 No.3, pp. 304-311, 2004.
Data files:
  1. [1] J. W. Glasheen and T. A. MacMahon, “Vertical water entry of disks at low froude numbers,” Physics of Fluids 8, pp. 2078-2083, 1996a.
  2. [2] J. W. Glasheen and T. A. MacMahon, “Size-dependence of water-running ability in basilisk (basiliscus basiliscus),” The Journal of Experimental Biology 199, pp. 2611-2618, 1996.

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