2A1-P13 Development of the trident strider : a robot moving on water with three linear links(Mobile Robot with Special Mechanism (1))

Abstract

In this paper, we propose a new kind of nonholonomic mobile robot called trident strider. It consists of a base-link and three links having a free wheel or knife edge like a fin. And each link is connected to the base-link by a linear joint. We analyze the dynamics of the robot, and investigate a control method for the robot to steer it to an arbitrary position. And we developed a robot which moves on surface of water as a real-life example of the trident strider.