Skip to main content
SpringerLink
Log in

Water-Surface Stability Analysis of a Miniature Surface Tension-Driven Water Strider Robot

  • Conference paper
  • First Online:
Intelligent Autonomous Systems 14 (IAS 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 531))

Included in the following conference series:

Abstract

When water strider robots row on water, the periodically stroking water surface of the actuating legs will unavoidably bring vibrations and instabilities that might cause the robots to sink into water. In this work, a stability analysis model for water strider robots rowing on water was proposed and a mass-spring-damper-like model was defined to describe the robot-water interactions. We applied this model to evaluate the water-surface stability of a miniature surface tension-driven water strider robot by detaily discussing the effects of the actuating legs’ rowing with different rowing frequencies on the vibration, pitching and swinging motions. The theoretical results indicates the robot possesses a good water-surface stability. The stability analysis model presented in this study can help with the design of water strider robots in future.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 259.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 329.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Hu, D.L., Chan, B., Bush, J.W.: The hydrodynamics of water strider locomotion. Nature 424, 663–666 (2003)

    Article  Google Scholar 

  2. Gao, X., Jiang, L.: Biophysics: water-repellent legs of water striders. Nature 432, 36–36 (2004)

    Article  Google Scholar 

  3. Hu, D.L., Bush, J.W.: The hydrodynamics of water-walking arthropods. J. Fluid Mech. 644, 5–33 (2010)

    Article  MATH  Google Scholar 

  4. Suhr, S., Song, Y., Lee, S., Sitti, M.: Biologically inspired miniature water strider robot. Proc. Robot. Sci. Syst. I 319-326 (2005)

    Google Scholar 

  5. Takonobu, H., Kodaira, K., Takeda, H.: Water strider’s muscle arrangement-based robot. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1754–1759. IEEE Press, Edmonton (2005)

    Google Scholar 

  6. Suzuki, K., Takanobu, H., Noya, K., Koike, H., Miura, H.: Water strider robots with microfabricated hydrophobic legs. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 590–595. IEEE Press, San Diego (2007)

    Google Scholar 

  7. Zhang, X., Zhao, J., Zhu, Q., Chen, N., Zhang, M., Pan, Q.: Bioinspired aquatic microrobot capable of walking on water surface like a water strider. ACS Appl. Mater. Inter. 3, 2630–2636 (2011)

    Article  Google Scholar 

  8. Shin, B., Kim, H. Cho, K.: Towards a biologically inspired small-scale water jumping robot. In: Proceedings of IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 590–595. IEEE Press, Scottsdale (2008)

    Google Scholar 

  9. Koh, J.S., Yang, E., Jung, G.P., Jung, S.P., Son, J.H., Lee, S.I., Cho, K.J.: Jumping on water: Surface tension–dominated jumping of water striders and robotic insects. Science 349, 517–521 (2015)

    Article  Google Scholar 

  10. Zhao, J., Zhang, X., Chen, N., Pan, Q.: Why Superhydrophobicity is crucial for a water-jumping microrobot? Experimental and theoretical investigations. ACS Appl. Mater. Inter. 4, 3706–3711 (2012)

    Article  Google Scholar 

  11. Yan, J., Zhang, X., Zhao, J., Liu, G., Cai, H., Pan, Q.: A miniature surface tension-driven robot using spatially elliptical moving legs to mimic a water strider’s locomotion. Bioinspiration Biomimetics 10, 046016 (2015)

    Google Scholar 

  12. Zhang, X., Yan, J., Zhao, J., Wang, Y., Pan, Q.: Vertical force acting on partly submerged spindly cylinders. AIP Adv. 4, 047118 (2014)

    Article  Google Scholar 

Download references

Acknowledgements

This work was financially supported by Natural Science Foundation of China (NSFC, Grant 51305098).

Author information

Authors and Affiliations

  1. State Key Laboratory of Robotics and System, Laboratory for Space Environment and Physical Sciences, Harbin Institute of Technology, Harbin, China

    Jihong Yan

  2. Laboratory for Space Environment and Physical Sciences, Harbin Institute of Technology, Harbin, China

    Xinbin Zhang

  3. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China

    Jie Zhao & Hegao Cai

Authors
  1. Jihong Yan
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Xinbin Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Jie Zhao
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Hegao Cai
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding authors

Correspondence to Jihong Yan or Xinbin Zhang .

Editor information

Editors and Affiliations

  1. Shanghai Jiao Tong University , Shanghai, China

    Weidong Chen

  2. Osaka University , Osaka, Japan

    Koh Hosoda

  3. University of Padua , Padua, Italy

    Emanuele Menegatti

  4. Osaka University , Osaka, Japan

    Masahiro Shimizu

  5. Shanghai Jiao Tong University , Shanghai, China

    Hesheng Wang

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing AG

About this paper

Cite this paper

Yan, J., Zhang, X., Zhao, J., Cai, H. (2017). Water-Surface Stability Analysis of a Miniature Surface Tension-Driven Water Strider Robot. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_57

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-48036-7_57

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-48035-0

  • Online ISBN: 978-3-319-48036-7

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation