Design of the Leg Mechanism of a Water Surface Runner

Masaru Higuchi; Hideo Tanaka; Shingo Tsutsumi; Yukio Takeda; Hiroaki Funabashi

doi:10.20965/jrm.2004.p0304

single-rb.php

« previous

JRM Vol.16 No.3 pp. 304-311

doi: 10.20965/jrm.2004.p0304

(2004)

Paper:

Views over last 60 days: 331

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

Received:

November 11, 2003

Accepted:

February 10, 2004

Published:

June 20, 2004

Keywords:

hydrodynamic forces, running machine, leg mechanism, optimal design, air cavity

Abstract

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, <. 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:

References

[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] 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.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[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.

Design of the Leg Mechanism of a Water Surface Runner

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

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