Research on the movement pattern and kinematic model of the hindlegs of the water boatman.

The special hindleg structure and swimming setae of a water boatman give it a high degree of maneuverability, which plays an important role in swimming. This paper used a high-speed photography platform to extract key points from videos, obtaining the forward and turning movement patterns of the water boatman's hindlegs, as well as the transformation patterns of the setae. A Fourier series was used to establish the movement models of each hindleg joint, and a kinematic model of the hindlegs was established to study the continuous movement characteristics of the hindlegs. This paper provides basic data and theoretical support for the design of underwater bio-inspired robots.