Dynamic Analysis of Fluid-Structure Interaction for the Biped Robot Running on Water

A novel biped robot inspired by basilisk lizards is designed to simulate the water-running function. The kinematic analysis of the running-mechanism is brought out to get the movement equations of the mechanism, and the numerical simulation results show that the feet trajectories of the robot are similar to basilisk lizards. For calculating the pressure distribution on a robot foot before touching water surface, the compression flow of air and depression motion of water surface are considered. The calculating model after touching water surface has been built according to the theory of the plane motion of a rigid body. The multi-material ALE algorithm is applied to emulate the course of the foot slapping water. Numerical simulation results indicate that the model of the bionic robot can satisfy the water-running function.