Surface-Tension-Driven Biologically Inspired Water Strider Robots: Theory and Experiments

Song, Yun Seong; Sitti, Metin

doi:10.1109/tro.2007.895075

Cited by 170 publications

(36 citation statements)

References 18 publications

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“…Many studies have sought to develop biomimetic robots to achieve a goal similar to that of their biological counterparts. These robots include water-walking robots based on the water strider [29], [30], [31], snake inspired robots [32], [33], and even wall climbing gecko robots [34], [35]. Based on the highly efficient design of the whirligig beetle's legs, we envision a bio-inspired robot that can mimic the design of both the hind and middle legs of the beetle.…”

Section: Resultsmentioning

confidence: 99%

Experimental Studies and Dynamics Modeling Analysis of the Swimming and Diving of Whirligig Beetles (Coleoptera: Gyrinidae)

Xu¹,

Lenaghan²,

Reese³

et al. 2012

PLoS Comput Biol

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Whirligig beetles (Coleoptera, Gyrinidae) can fly through the air, swiftly swim on the surface of water, and quickly dive across the air-water interface. The propulsive efficiency of the species is believed to be one of the highest measured for a thrust generating apparatus within the animal kingdom. The goals of this research were to understand the distinctive biological mechanisms that allow the beetles to swim and dive, while searching for potential bio-inspired robotics applications. Through static and dynamic measurements obtained using a combination of microscopy and high-speed imaging, parameters associated with the morphology and beating kinematics of the whirligig beetle's legs in swimming and diving were obtained. Using data obtained from these experiments, dynamics models of both swimming and diving were developed. Through analysis of simulations conducted using these models it was possible to determine several key principles associated with the swimming and diving processes. First, we determined that curved swimming trajectories were more energy efficient than linear trajectories, which explains why they are more often observed in nature. Second, we concluded that the hind legs were able to propel the beetle farther than the middle legs, and also that the hind legs were able to generate a larger angular velocity than the middle legs. However, analysis of circular swimming trajectories showed that the middle legs were important in maintaining stable trajectories, and thus were necessary for steering. Finally, we discovered that in order for the beetle to transition from swimming to diving, the legs must change the plane in which they beat, which provides the force required to alter the tilt angle of the body necessary to break the surface tension of water. We have further examined how the principles learned from this study may be applied to the design of bio-inspired swimming/diving robots.

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Section: Resultsmentioning

confidence: 99%

Experimental Studies and Dynamics Modeling Analysis of the Swimming and Diving of Whirligig Beetles (Coleoptera: Gyrinidae)

Xu¹,

Lenaghan²,

Reese³

et al. 2012

PLoS Comput Biol

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“…In most previous models, the maximum dimple depth and supporting force have been estimated by treating a water strider leg as a rigid cylinder with a superhydrophobic surface [20][21][22]. However, the natural state of a living water strider distinctly differs from the above assumption.…”

Section: Introductionmentioning

confidence: 99%

“…Recently, the effect of flexibility of a water strider leg on its wettability has attracted attention [22][23][24]. Liu et al [21] addressed the enhancing effect of the elastic deformation of microsized setae on the water-repellent behavior of water strider legs.…”

Section: Introductionmentioning

confidence: 99%

Role of flexibility in the water repellency of water strider legs: Theory and experiment

Wang

Feng

2012

Phys. Rev. E

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Water striders enjoy an intriguing ability to stand and walk freely on water surfaces, which is mainly attributed to the superior water repellency of their slender legs. In previous theoretical analyses, the legs are usually treated as rigid beams and the results show that a tremendously deep dimple and a large supporting force can be achieved when the leg descends into water. In this paper, the effect of the flexibility of water strider legs on their water-repellent ability is investigated, both theoretically and experimentally. We analyze a hydrophobic and flexible leg pressing obliquely on water. The leg may undergo a large deformation and assume different geometric configurations. It is shown that the flexible leg can float easily on a water surface, inducing only a shallow water puddle and a moderate supporting force as observed in real water striders. When the long leg is sufficiently compliant, the water surface will never be pierced and the leg will never sink. The findings are experimentally testified by using flexible fibers to represent water strider legs pressing on water.

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“…In addition to motorized actuators, a number of passively actuated designs have been proposed, including electricity, 4 light, 5 pressure, 6 shape memory effect (SME), 7 swelling, 8 and piezoelectricity. 9 In the field of space exploration, deployment is a critical phase in the life cycle of a space structure. 10 With respect to kinematics, entanglement and jamming may occur if part movements cannot be precisely controlled.…”

Section: Introductionmentioning

confidence: 99%

An Autonomous Programmable Actuator and Shape Reconfigurable Structures Using Bistability and Shape Memory Polymers

Chen

SheaKristina

2018

3D Printing and Additive Manufacturing

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Autonomous deployment and shape reconfiguration of structures is a crucial field of research in space exploration with emerging applications in the automotive, building and biomedical industries. Challenges in achieving autonomy include: bulky energy sources, imprecise deployment, jamming of components and lack of structural integrity. Leveraging advances in the fields of shape memory polymers, bistability and 3D multi-material printing, we present a 3D printed programmable actuator that enables the autonomous deployment and shape reconfiguration of structures activated though surrounding temperature change. Using a shape memory polymer as the temperature controllable energy source and a bistable mechanism as the linear actuator and force amplifier, the structures achieve precise geometric activation and quantifiable load bearing capacity. The proposed unit actuator integrates these two components and is designed to be assembled into larger deployable and shape reconfigurable structures. First, we demonstrate that the activation of the unit actuator can be sequenced by tailoring each shape memory polymer to a different activation time. Next, by changing the configuration of the actuator, we demonstrate an initially flat surface that transforms into a pyramid or a hyperbolic paraboloid, thus demonstrating a multi-state structure. Load bearing capability is demonstrated for both during activation and in the operating state. arXiv:1711.00452v1 [physics.app-ph] 1 Nov 2017 2/8

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Surface-Tension-Driven Biologically Inspired Water Strider Robots: Theory and Experiments

Cited by 170 publications

References 18 publications

Experimental Studies and Dynamics Modeling Analysis of the Swimming and Diving of Whirligig Beetles (Coleoptera: Gyrinidae)

Experimental Studies and Dynamics Modeling Analysis of the Swimming and Diving of Whirligig Beetles (Coleoptera: Gyrinidae)

Role of flexibility in the water repellency of water strider legs: Theory and experiment

An Autonomous Programmable Actuator and Shape Reconfigurable Structures Using Bistability and Shape Memory Polymers

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