A Computational Study on the Hydrodynamics of Bio-Inspired Quadrupedal Paddling.

ABSTRACT: Due to its exceptional terrain mobility, quadrupedal locomotion has been used in the design of many amphibious robots for broad applications including resource exploration, disaster rescue, and reconnaissance. In this work, swimming of a quadrupedal paddling model is considered, and the effects of the legs' initial swing angle, swing amplitude, and power phase duration are numerically investigated through three paddling gaits, namely, the trotting gait, the diagonal, and the lateral sequence gaits. Three different modes for drag-based thrust generation, the "Trotting Mode", the "Hindering Mode", and the "Separate Mode", are identified. In the "Trotting Mode", each pair of diagonal legs contributes equally and alternately to the thrust within the paddling cycle, and its contribution is impa

SUBMITTER: Wang Y 

PROVIDER: S-EPMC11940226 | biostudies-literature | 2025 Feb

REPOSITORIES: biostudies-literature