1. College of Information Engineering, Minzu University of China, Beijing 100081, China; 2. State Key Laboratory of Intelligent Technology and Systems, Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China; 3. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
Abstract:Water strider robot is a kind of bionic copy of the insect water strider.It stands and moves on the water surface via the support of the surface tension,becoming a new interested research direction in the field of robotics.In this paper,the state of the arts of theory,technology and system development about the water strider robot is mainly introduced.Then,some future key research directions,key technologies and the prospects are pointed out.
[1] 马光.仿生机器人的研究进展[J].机器人,2001,23(5):463-466.Ma Guang.Research evolution on biorobotics[J].Robot,2001,23(5):463-466.
[2] Arikawa K,Hirose S.Development of quadruped walking robot TITAN-Ⅷ[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,1996:208-214.
[3] Hirose S,Kato K.Study on quadruped walking robot in Tokyo institute of technology-Past,present and furore[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2000:414-419.
[4] 杨少波,韩小云,张代兵,等.一种新型的胸鳍摆动模式推进机器鱼设计与实现[J].机器人,2008,30(6):508-515.Yang Shaobo,Han Xiaoyun,Zhang Daibing,et al.Design and development of a new kind of pectoral oscillation propulsion robot fish[J].Robot,2008,30(6):508-515.
[5] Idogaki T,Kanayama H,Ohya N,et al.Characteristics of piezoelectric locomotive mechanism for an in-pipe micro inspection machine[C]//IEEE International Symposium on Micro Machine and Human Science.Piscataway,NJ,USA:IEEE,1995:193-198.
[6] Forbes.com.Engineer Builds Robot That Walks on Water[EB/OL].(2004-09-09)[2009-07-07].http://www-math.mit.edu/~dhu/Press/Press03/forbes.htm.
[7] Hu D L,Chan B,Bush J W M.The hydrodynamics of water strider locomotion[J].Nature,2003,424(6949):663-666.
[8] Dickinson M.Animal locomotion:How to walk on water[J].Nature,2003,424(6949):621-622.
[9] Suhr S H,Song Y S,Lee S J,et al.Biologically inspired miniature water strider robot[C]//Proceedings of the Robotics:Science and Systems I.Boston,USA:2005:319-325.
[10] 吴立成,丁樑,郭栋,等.水一卜漂浮仿生水黾机器人,中国:200610112601.7[P].2006-08-25.Wu Licheng,Ding Liang,Guo Dong,et al.A bionic water strider robot,China:200610112601.7[P].2006-08-25.Wu Licheng,Ding Liang,Guo Dong,et al.A bionic water strider robot,China:200610112601.7[P].2006-08-25.
[11] Takonobu H,Kodaira K,Takeda H.Water strider's muscle arrangement-based robot[C]//IEEE/RSJ International Confer ence on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2005:1754-1759.
[12] Gao T H,Cao J Y,Zhu D Y,et al.Study on kinematics analy sis and mechanism realization of a novel robot walking on water surface[C]//1EEE International Conference on Integration Tech nology.Piscataway,NJ,USA:IEEE,2007:685-690.
[13] Basso B,Fong A,Hurst A,et al.Robot using surface tension[D].Columbia,USA:Columbia University,2005.
[14] Song Y S,Sitti M.STRIDE:A highly maneuverable and non tethered water strider robot[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2007:980-984.
[15] Suzuki K,Takanobu H,Noya K,et al.Water strider robots with microfabricated hydrophobic legs[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2007:590-595.
[16] Gao X F,Jiang L.Water repellent legs of water striders[J].Na ture,2004,432(7013):36.
[17] 王庆军,陈庆民.超疏水膜表面构造及构造控制研究进展[J].高分子通报,2005(2):63-69,92.Wang Qingjun,Chen Qingmin.Recent developments of the morphology and its control of super hydrnphobic membrane[J].Polymer Bulletin,2005(2):63-69,92.
[18] 北京首创纳米科技有限公司.水性纳米疏水剂:SS-Ⅰ型和SS-Ⅱ型[EB/OL].(2005-06-30)[2009-07-06].http://www.sokang.com.cn/cpin/ss.htm.
[19] Adamson A W.表面的物理化学[M].顾惕人,译.北京:科学出版社,1984.Adamson A W.Physical chemistry of surfaces[M].Gu Tiren,trans.Beijing:Science Press,1984.
[20] Song Y,Sitti M.Surface-tension-driven biologically inspired water strider robots:Theory and experiments[J].IEEE Trans actions on Robotics,2007,23(3):578-589.
[21] Song Y S,Suhr S H,Sitti M.Modeling of the supporting legs for designing biomimetic water strider robots[C]//IEEE Inter national Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2006:2303-2310.
[22] Keller J B.Surface tension force on a partly submerged body[J].Physics of Fluids,1998,10(11):3009-3010.
[23] Snter,R B,Rosenberg O,Loeb S,et al.Lecomotion on the water surface:Propulsive mechanisms of the fisher spider Dolomedes triton[J].Journal of Experimental Biology,1997,200(19):2523-2538.
[24] Miyazawa O.A self-contained micromechanism[C]//1st IFToMM International Symposium.1993:187-192.
[25] Kawakita S,Isogai T,Ohya N,et al.Multi-layered piezo electric bimorph actuator[C]//International Symposium on Mi eromechatronics and Human Science.Piscataway,NJ,USA:IEEE,1997:73-78.
[26] Shibata T,Sasaya T,Kawahara N,et al.Microwave energy sup ply system for in-pipe micrornachine[C]//lntemational Sympo sium on Micromechatronics and Human Science.Piscataway,NJ,USA:IEEE,1998:237-242.
[27] 刘品宽,孙立宁,刘涛,等.惯性冲击式运动原理的理论分析与仿真[J].中国机械工程,2004,15(24):2217-2221.Liu Pinkuan,Sun Lining,Liu Tao,et al.Theoretical analysis and simulation on the principle of inertia drive mechanism[J].China Mechanical Engineering,2004,15(24):2217-2221.