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Roll and Pitch Motion Analysis of a Biologically Inspired Quadruped Water Runner Robot
2009
The international journal of robotics research
In this paper, the roll and pitch dynamics of a biologically inspired quadruped water runner robot are analyzed, and a stable robot design is proposed and tested. The robot's foot-water interaction force is derived using drag equations. Roll direction instability is attributed to a small roll moment of inertia and large instantaneous roll moments generated by the foot-water interaction forces. Roll dynamics are modeled by approximating the water as a linear spring. Using this model, estimates
doi:10.1177/0278364909354391
fatcat:j264qsyycjdw5p23zww5ybqlve