关键词: 双足机器人;水上行走;优化设计;控制方法

Abstract: The propulsion mechanism and the control method of a novel biped running on water are studied. The dynamics mechanism of the biped robot is studied according to the basilisk lizard’s function of running on water. The movement trajectories of the Watt-I planar linkages are brought out by combining the movement equations of the four bar mechanism and the coordinate transformation equations, which are used to simulate the foot trajectories of the basilisk lizard, and the propulsion mechanism of the biped robot is carried out. Then the virtual prototype of the biped robot is built, and the mechanism is optimized. A CPG-fuzzy control method is proposed, and the control system of the biped robot is designed with the CPG controller and the fuzzy controller. The simulation of the control system is implemented to test its effect preliminary. The real prototype of the biped robot walking on water is carried out to test the robot’s function of walking on water. The force of the propulsion mechanism is measured by a strain gauge mounted on the robot’s foot. The real-time body tilting angles of the robot in the case of the balance equipment running or not are measured respectively. The experiment results show that the propulsion system can satisfy the function requirement of biped robot walking on water, and the control method is effective to keep its balance.

Key words: biped robot;running on water;optimization design;control method