Biological swimming mechanism analysis and design of robotic frog

Abstract

There are several locomotion mechanisms in Nature. The study of mechanics of any locomotion is very useful for scientists and researchers. Many locomotion principles from Nature have been adapted in robotics. There are several species which are capable of multimode locomotion such as walking and swimming, and flying etc. Frogs are such species, capable of jumping, walking, and swimming. Multimode locomotion is important for robots to work in unknown environment. Frogs are widely known as good multimode locomotors. Webbed feet help them to swim efficiently in water. This paper presents the study of frog's swimming locomotion and adapting the webbed feet for swimming locomotion of the robots. A simple mechanical model of robotic leg with webbed foot, which can be used for multi-mode locomotion and robotic frog, is put forward. All the joints of the legs are designed to be driven by tendon-pulley arrangement with the actuators mounted on the body, which allows the legs to be lighter and compact.