Rolling Stability Enhancement via Balancing Tail for a Water-running Robot

Hyun Gyu Kim, Dong Gyu Lee, Tae Won Seo

Research output: Contribution to journalArticle

9 Scopus citations


Running on water produces very energy-efficient and fast motion in water environments. Many studies have been performed to develop bio-inspired water-running robots. To achieve good performance, the lifting force is very important for a robot to be able to run on water. The loss of lifting force is associated with the rolling stability of the robot on water. The purpose of this study is to improve the rolling stability of a water-running robot through the periodic motion of a balancing tail. Kinematic analysis was performed to calculate the motions of the legs and the tail, and static analysis was performed to calculate the balancing effect of the tail motion. A numerical model was suggested to determine the dynamic performance of the robotic platform based on kinematic and static results. A simulation based on the numerical model was performed, and the results were compared with empirical data from a robot prototype. The simulation results are in good agreement with the experimental data in terms of rolling stability The lifting force has only a slight effect. The results of this study can be used as a guideline for designing a stable water-running robot.

Original languageEnglish
Pages (from-to)395-405
Number of pages11
JournalJournal of Bionic Engineering
Issue number3
StatePublished - 2015 Jul 1


  • Balancing tail
  • Basilisk lizard
  • Lifting force
  • Rolling stability
  • Water-running robot

Fingerprint Dive into the research topics of 'Rolling Stability Enhancement via Balancing Tail for a Water-running Robot'. Together they form a unique fingerprint.

  • Cite this