Development of the lifting and propulsion mechanism of biped robot running on water

The basilisk lizard´s function of running on water is used to analyse the dynamical mechanism of the biped robot which has the same function. The movement trajectories of the a Watt-I six-bar linkage are brought out by combining the movement equations of the four bar mechanism and the coordinate transformation equations, which are used to simulate the foot trajectories of the basilisk lizard, and the lifting and propulsion mechanism of the biped robot running on water is carried out. The links´ parameters are optimized by taking the trajectories overlap ratio as the target function. The prototype of the biped robot running on water is made by the results of the kinetic analysis on the robot. And the lifting and propulsion force curve on the robot from water is measured. The experiment results show that the lifting and propulsion system satisfy the function requirement of biped robot running on water.