面向水上机器人的水黾运动观测

doi:10.13229/j.cnki.jdxbgxb20170456

吉林大学学报(工学版) ›› 2018, Vol. 48 ›› Issue (3): 812-820.doi: 10.13229/j.cnki.jdxbgxb20170456

面向水上机器人的水黾运动观测

田为军¹, 王骥月¹, 李明¹, 张兴旺², 张勇³, 丛茜^1,4

1.吉林大学工程仿生教育部重点实验室,长春 130022;
2.山东科瑞石油装备有限公司,山东东营 257067;
3.长春光华学院电气信息学院,长春 130033;
4.吉林大学汽车仿真与控制国家重点实验室,长春 130022;

收稿日期:2017-05-08 出版日期:2018-05-20 发布日期:2018-05-20
通讯作者: 丛茜(1963-),女,教授,博士生导师.研究方向:工程仿生学.E-mail:congqian@jlu.edu.cn
作者简介:田为军(1982-),男,副教授,博士.研究方向:工程仿生学.E-mail:tianweijun@jlu.edu.cn
基金资助:
国家自然科学基金项目(51305157;51775234); 吉林大学工程仿生教育部重点实验室开放基金项目(K201401).

Observation of locomotion of water strider towards water strider robot

TIAN Wei-jun¹, WANG Ji-yue¹, LI Ming¹, ZHANG Xing-wang², ZHANG Yong³, CONG Qian^1,4

1.Key Laboratory of Bionic Engineering,Ministry of Education, Jilin University, Changchun 130022,China;
2.Shandong Kerui Petroleum Equipment Co., Ltd., Dongying 257067,China;
3.Institute of Electrical Information, Changchun Guanghua University, Changchun 130033,China;
4.State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022,China

Received:2017-05-08 Online:2018-05-20 Published:2018-05-20

摘要/Abstract

摘要： 为了研究水黾水上运动时各腿的运动功能特性,采用高速摄像机记录未处理腿、去除前腿、中腿和后腿时水黾的水上运动,并对水黾的纸上运动进行观察。计算水黾各腿的关节角度,探讨水黾各腿在其运动过程中所承担的具体功能。水上直线运动结果表明:水黾前腿与水接触以维持身体平衡;中腿摆动划水,提供前进动力;后腿与水接触,为躯干提供支撑力,并反复开合,配合前腿维持身体平衡,同时配合中腿减少前进阻力。水黾在纸上直线运动时,为减小阻力,以跳跃方式前进,前腿与后腿维持起落平衡,中腿摆动提供动力。部分腿缺失后的水黾,可通过剩余腿的协同代偿调整来实现稳定运动。

关键词: 工程仿生学, 水黾, 高速摄像, 运动机理, 关节角

Abstract: A high speed camera was used to record the locomotion of water strider to investigate its motion characteristics. The locomotion was observed in five situations, including walking on water surface without leg handling, with forelegs removal, with middle legs removal, with hind legs removal, and moving on paper. The joint angles of water strider legs were calculated, and the function of each leg was investigated based on the calculated angles. The results of linear motion on water surface show that the foreleg maintains the body balance by contacting with water; the middle leg provides driving force by paddling; and the hind leg provides support and maintains balance through its swing, and reduces water resistance. When water strider moves on paper, its middle legs provide driving force as it moves on water surface, and its hind legs swing slightly to control the balance during the caprioling and landing. The water strider can move stably through the adjustment of the rest legs after missing some legs.

Key words: bionic engineering, water strider, high speed camera, locomotion mechanism, joint angle

中图分类号:

TB17

田为军, 王骥月, 李明, 张兴旺, 张勇, 丛茜. 面向水上机器人的水黾运动观测[J]. 吉林大学学报(工学版), 2018, 48(3): 812-820.

TIAN Wei-jun, WANG Ji-yue, LI Ming, ZHANG Xing-wang, ZHANG Yong, CONG Qian. Observation of locomotion of water strider towards water strider robot[J]. 吉林大学学报(工学版), 2018, 48(3): 812-820.

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面向水上机器人的水黾运动观测

Observation of locomotion of water strider towards water strider robot

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