Stability Analysis and Hydrodynamic Modeling of a Water Strider-like Robot

This article presents a new water strider-like robot with buoyancy as the supporting force that is inspired by the water strider which can stand, glide and leap on the surface of water. The stroke mechanism of the robot has little disturbance to the water and is favorable for the stability of the water strider-like robot without extra action when it enters and leaves the water surface. Based on Interaction force analysis of the water strider-like robot, the stability judgment method of the water strider-like robot in wave condition is proposed which is also applicable to the study of dynamic stability of other quadruped robots on water. Through the analysis of the forward movement of the water strider-like robot, the hydrodynamic modeling of the whole machine has been carried out and the distance that the robot moves forward in a stroke cycle is analyzed.