The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio, 34, 56025-Pontedera (PI), Italy.
Bioinspir Biomim. 2017 Nov 27;13(1):016001. doi: 10.1088/1748-3190/aa90f6.
This paper presents the self-stabilisation features of a hopping gait during underwater legged locomotion. We used a bio-inspired fundamental model of this gait, the underwater spring-loaded inverted pendulum model, to numerically derive quantitative (dimension of the basin of attraction, Floquet multipliers, mean horizontal speed) and qualitative (shape of the basin) features which characterise the self-stability of the system. Furthermore, we compared the results obtained with a terrestrial self-stable running model (i.e. the spring-loaded inverted pendulum with swing-leg retraction) to highlight the role of water-related components in relation to dynamic legged locomotion. The analysis revealed fundamental morphological and actuation parameters that could be used to design self-stabilising underwater hopping machines, as well as elucidating their role with respect to stability and speed. Underwater hopping is a simple and reliable locomotion, as it does not require complex control feedback to reject significant disturbances. Thanks to its high self-stabilising property, underwater hopping appears to be a reliable alternative locomotion for underwater robots.
本文介绍了水下腿部运动中跳跃步态的自稳定特性。我们使用了这种步态的一种仿生基本模型——水下弹簧加载倒立摆模型，通过数值推导来获得定量（吸引域的维度、Floquet 乘数、平均水平速度）和定性（吸引域的形状）特征，这些特征描述了系统的自稳定性。此外，我们将所得结果与陆地自稳定跑步模型（即带摆动腿缩回的弹簧加载倒立摆）进行了比较，以突出与动态腿部运动相关的水相关组件的作用。分析揭示了可用于设计自稳定水下跳跃机器的基本形态和驱动参数，并阐明了它们在稳定性和速度方面的作用。水下跳跃是一种简单可靠的运动方式，因为它不需要复杂的控制反馈来拒绝显著的干扰。由于其高自稳定性，水下跳跃似乎是水下机器人的一种可靠替代运动方式。
