Swimming Pattern Generator Based on Diving Beetles for Legged Underwater Robots

Abstract

In the paper, we propose a better solution with a view point of biomometic technique. As a biomimetic model of underwater organisms, we chose diving beetles structurally similar to a legged underwater robot Crabster which is under development. Various swimming locomotion of the diving beetle has been observed and sorted by robotics technology through experiments with a high-speed camera and image processing software Image J. Subsequently, we analyze coordinated patterns of rhythmic movements of the diving beetle. Through the procedure of comparing locomotion reproduced by simple control parameters with observed motions of the diving beetles, we confirmed applicability of various swimming patterns to the robot making it easy to control trajectories and velocities of its legs. In addition, the concept of the robot leg is proposed for efficient swimming. Index Terms-Diving beetles, bio-inspired legged underwater robots, swimming pattern generator, underwater locomotion.