面向水上机器人的水黾运动观测

doi:10.13229/j.cnki.jdxbgxb20170456

Abstract

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

CLC Number:

TB17

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.

References

[1] Gao Xue-feng, Jiang Lei.Biophysics:water-repellent legs of water striders[J]. Nature,2004,432(7013):36.
[2] Wang Qing-cheng, Yang Xiao-dong, Yang Zhuo-juan.Research on micro and nano structure and wettability for water strider's leg, abdomen, back and wing[J]. Applied Mechanics & Materials,2013,459:547-550.
[3] 张兴旺. 水黾腿润湿性及水黾运动特性研究[D]. 长春:吉林大学生物与农业工程学院,2014.
Zhang Xing-wang.Research on wettability of leg and motion characteristic of water strider[D]. Changchun:College of Biological and Agricultural Engineering, Jilin University,2014.
[4] 王庆成. 超疏水生物水面超大承载机制及其仿生研究[D]. 长春:长春理工大学机电工程学院,2012.
Wang Qing-cheng.The Mechanism of the super-supporting force of super-hydrophobic biological and its bionic research[D]. Changchun: College of Mechanical and Electric Engineering, Changchun University of Science and Technology,2012.
[5] Bush J W M,Hu D L,Prakash M. The integument of water-walking arthropods: form and function[J]. Advances in Insect Physiology,2007,34(147):117-192.
[6] 田为军,张兴旺,王骥月,等. 水黾多腿并排表面的疏水性能[J]. 高等学校化学学报,2014,35(8):1726-1730.
Tian Wei-jun,Zhang Xing-wang,Wang Ji-yue,et al.Surface properties of hydrophobic side by side water strider legs[J]. Chemical Journal of Chinese Universities,2014,35(8):1726-1730.
[7] Hu D L,Bush J W M. The hydrodynamics of water-walking arthropods[J]. Journal of Fluid Mechanics,2010,644:5-33.
[8] Yabe T,Chinda K,Hiraishi T.Computation of surface tension and contact angle and its application to water strider[J]. Computers & Fluids,2007,36(1):184-190.
[9] Zheng J,Yu K,Zhang J,et al.Modeling of the propulsion hydrodynamics for the water strider locomotion on water surface[J]. Procedia Engineering,2015,126:280-284.
[10] Goodwyn P J P,Wang J,Wang Z,et al. Water striders: the biomechanics of water locomotion and functional morphology of the hydrophobic surface (insecta: hemiptera-heteroptera)[J]. Journal of Bionic Engineering,2008,5(2):121-126.
[11] Takewaki H, Yabe T.The cubic-interpolated pseudo particle (CIP) method: application to nonlinear and multi-dimensional hyperbolic equations[J]. Journal of Computational Physics,1987,70(2):355-372.
[12] Takonobu H,Kodaira K,Takeda H.Water strider's muscle arrangement-based robot[C]∥2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, AB,Canada,2005:1754-1759.
[13] Suhr S H,Song Y S,Lee S J,et al.Biologically inspired miniature water strider robot[C]∥Robotics: Science and Systems I,Cambridge, Massachusetts,USA,2005:319-326.
[14] Wu L, Yang G, Gui X.Developing strategy based on discussing of the state of the art for a new water strider robot[C]∥2012 Second International Conference on Intelligent System Design and Engineering Application, Sanya,China,2012:674-678.
[15] 何冲. 仿水黾机器人建模及运动特性研究[D]. 天津:河北工业大学机械工程学院,2013.
He Chong.Modeling and kinematics research on water strider robot[D]. Tianjin:School of Mechanical Engineering, Hebei University of Technology,2013.
[16] 王涛. 仿生水黾水面跳跃机器人的研究[D]. 哈尔滨:哈尔滨工业大学机电工程学院, 2015.
Wang Tao.Research on water jumping robot inspired by water strider[D]. Harbin:School of Mechatronics Engineering, Harbin Institute of Technology,2015.
[17] Song Y S, Sitti M.Surface-tension-driven biologically inspired water strider robots: theory and experiments[J]. IEEE Transactions on Robotics,2007,23(3):578-589.
[18] Bai Fan,Wu Jun-tao,Gong Guang-ming,et al.Biomimetic “water strider leg” with highly refined nanogroove structure and remarkable water-repellent performance[J]. ACS Applied Materials & Interfaces,2014,6(18): 16237-16242.
[19] Hu D L, Chan B, Bush J W M. The hydrodynamics of water strider locomotion[J]. Nature,2003,424(6949):663-666.
[20] Yan J H,Zhang X B,Zhao J,et al.A miniature surface tension-driven robot using spatially elliptical moving legs to mimic a water strider's locomotion[J]. Bioinspiration & Biomimetics,2015,10(4):046016.
[21] Zhang X,Yan J,Zhao J,et al.A miniature surface tension-driven robot mimicking the water-surface locomotion of water strider[C]∥2015 IEEE International Conference on Robotics and Automation(ICRA),Seattle,Washington,USA,2015:3172-3177.
[22] Zhang X,Zhao J,Zhu Q,et al.Bioinspired aquatic microrobot capable of walking on water surface like a water strider[J]. ACS Applied Materials & Interfaces,2011,3(7):2630-2636.
[23] Koh J S, Yang E, Jung G P, et al.Biomechanics. Jumping on water: surface tension-dominated jumping of water striders and robotic insects[J]. Science,2015,349(6247):517-521.
[24] Hughes G M.The co-ordination of insect movements. II. The effect of limb amputation and the cutting of commissures in the cockroach (blatta orientalis)[J]. Journal of Experimental Biology,1957,34(3):306.
[25] Wilson D M.Insect walking[J]. Entomology,1966,11(11):103-122.
[26] Delcomyn F.Perturbation of the motor system in freely walking cockroaches. I. Rear leg amputation and the timing of motor activity in leg muscles[J]. Journal of Experimental Biology,1991,156(3):483-502.
[27] Delcomyn F.Perturbation of the motor system in freely walking cockroaches. II. The timing of motor activity in leg muscles after amputation of a middle leg[J]. Journal of Experimental Biology,1991,156(3):503-517.
[28] Delcomyn F.The effect of limb amputation on locomotion in the cockroach periplaneta americana[J]. Journal of Experimental Biology,1971,54(2):453-469.
[29] Zhang Yan,Huang He,Liu Xiang-yang,et al.Kinematics of terrestrial locomotion in mole cricket gryllotalpa orientalis[J]. Journal of Bionic Engineering,2011,8(2):151-157.
[30] Zhang Yan,Zhang Jun-xia,Ren Lu-quan.The terrestrial locomotion of a mole cricket with foreleg amputation[J]. Science China Technological Sciences,2015,58(6):999-1006.

Metrics

Viewed

Full text

Abstract

Cited

Shared

Discussed

Comments

Recommended 10

[1]	Guo Kong-hui;Wang Shuang;Ding Hai-tao;Zhang Jian-wei . Elastic coupling characteristic of unsymmetrical rubber bushings of rear suspension[J]. 吉林大学学报(工学版), 2007, 37(06): 1225 -1228 .
[2]	HE Lei,ZONG Chang-fu,TIAN Cheng-wei,WU Ren-jun,Zhang Tai-wu. DC motor fault diagnosis and fault tolerance control method for steer-by-wire car[J]. 吉林大学学报(工学版), 2011, 41(03): 608 -612 .
[3]	LIU Song-shan, WANG Qing-nian, WANG Wei-hua, LIN Xin. Influence of inertial mass on damping and amplitude-frequency characteristic of regenerative suspension[J]. 吉林大学学报(工学版), 2013, 43(03): 557 -563 .
[4]	CHU Liang, WANG Yan-bo, QI Fu-wei, ZHANG Yong-sheng. Control method of inlet valves for brake pressure fine regulation[J]. 吉林大学学报(工学版), 2013, 43(03): 564 -570 .
[5]	LI Jing, WANG Zi-han, YU Chun-xian, HAN Zuo-yue, SUN Bo-hua. Design of control system to follow vehicle state with HIL test beach[J]. 吉林大学学报(工学版), 2013, 43(03): 577 -583 .
[6]	HU Xing-jun, LI Teng-fei, WANG Jing-yu, YANG Bo, GUO Peng, LIAO Lei. Numerical simulation of the influence of rear-end panels on the wake flow field of a heavy-duty truck[J]. 吉林大学学报(工学版), 2013, 43(03): 595 -601 .
[7]	WANG Tong-jian, CHEN Jin-shi, ZHAO Feng, ZHAO Qing-bo, LIU Xin-hui, YUAN Hua-shan. Mechanical-hydraulic co-simulation and experiment of full hydraulic steering systems[J]. 吉林大学学报(工学版), 2013, 43(03): 607 -612 .
[8]	ZHANG Chun-qin, JIANG Gui-yan, WU Zheng-yan. Factors influencing motor vehicle travel departure time choice behavior[J]. 吉林大学学报(工学版), 2013, 43(03): 626 -632 .
[9]	MA Wan-jing, XIE Han-zhou. Integrated control of main-signal and pre-signal on approach of intersection with double stop line[J]. 吉林大学学报(工学版), 2013, 43(03): 633 -639 .
[10]	YU De-xin, TONG Qian, YANG Zhao-sheng, GAO Peng. Forecast model of emergency traffic evacuation time under major disaster[J]. 吉林大学学报(工学版), 2013, 43(03): 654 -658 .

Observation of locomotion of water strider towards water strider robot

RICH HTML

PDF (PC)

Abstract

Cite this article

share this article

References

Related Articles 10

Metrics

Comments

Recommended 10

[1]	CHEN Dong-hui, LIU Wei, LYU Jian-hua, CHANG Zhi-yong, WU Ting, MU Hai-feng. Bionic design of corn stubble collector based on surface structure of Patinopecten yessoensis [J]. 吉林大学学报(工学版), 2017, 47(4): 1185-1193.
[2]	TIAN Li-mei, WANG Yang-jun, LI Zi-yuan, SHANG Yan-geng. Development of drag-reduction test system of bionic functional surfaces with internal flow [J]. 吉林大学学报(工学版), 2017, 47(4): 1179-1184.
[3]	WANG Ying, LI Jian-qiao, ZHANG Guang-quan, HUANG Han, ZOU Meng. Mechanical characteristics of bionic walking foot in different media [J]. 吉林大学学报(工学版), 2017, 47(2): 546-551.
[4]	QIAN Zhi-hui, MIAO Huai-bin, REN Lei, REN Lu-quan. Lower limb joint angles of German shepherd dog during foot-ground contact in different gait patterns [J]. 吉林大学学报(工学版), 2015, 45(6): 1857-1862.
[5]	ZHANG Rui, YANG Ming-ming, LIU Hai-bao, ZENG Gui-yin, PAN Run-duo, LI Jian-qiao. Numerical simulation of sand flow fixation characteristics of plantar surface of ostrich didactyl foot [J]. 吉林大学学报(工学版), 2015, 45(2): 508-515.
[6]	TIAN Li-mei, SHANG Zhen, HU Guo-liang, LI Nan. Numerical simulation of the lift and drag characteristics of passenger car based on morphological bionics [J]. 吉林大学学报(工学版), 2014, 44(5): 1283-1289.
[7]	ZHANG Rui, ZHANG Si-hua, LIU Fang, LI Jian-qiao. Structure design and performance analysis of bionic desert hiking stick [J]. 吉林大学学报(工学版), 2013, 43(04): 976-982.
[8]	CHANG Zhi-yong, CHEN Dong-hui, TONG Jin, TONG Yue-ying, XIE Jun. Human olfactory feature based bionic electronic nose technology for pork freshness detection [J]. 吉林大学学报(工学版), 2012, 42(增刊1): 131-134.
[9]	ZHANG Yan, HUANG He, REN Lu-quan. Drag reduction experiment of bionic excvavtor bucket teeth [J]. 吉林大学学报(工学版), 2012, 42(增刊1): 126-130.
[10]	SHI Lei, ZHANG Cheng-chun, WANG Jing, WANG Yong-hua,ZHANG Xue-peng, REN Lu-quan. Reduction of aerodynamic noise from NACA0018 airfoil model using bionic methods [J]. 吉林大学学报(工学版), 2011, 41(6): 1664-1668.