Scale dependence in hydrodynamic regime for jumping on water.

Momentum transfer from the water surface is strongly related to the dynamical scale and morphology of jumping animals. Here, we investigate the scale-dependent momentum transfer of various jumping organisms and engineered systems at an air-water interface. A simplified analytical model for calculating the maximum momentum transfer identifies an intermediate dynamical scale region highly disadvantageous for jumping on water. The Weber number of the systems should be designed far from 1 to achieve high jumping performance on water. We design a relatively large water-jumping robot in the drag-dominant scale range, having a high Weber number, for maximum jumping height and distance. The jumping robot, around 10 times larger than water striders, has a take-off speed of 3.6 m/s facilitated by drag-based propulsion, which is the highest value reported thus far. The scale-dependent hydrodynamics of water jumpers provides a useful framework for understanding nature and robotic system interacting with the water surface.

Directional takeoff, aerial righting, and adhesion landing of semiaquatic springtails.

Springtails (Collembola) have been traditionally portrayed as explosive jumpers with incipient directional takeoff and uncontrolled landing. However, for these collembolans that live near the water, such skills are crucial for evading a host of voracious aquatic and terrestrial predators. We discover that semiaquatic springtails, Isotomurus retardatus, can perform directional jumps, rapid aerial righting, and near-perfect landing on the water surface. They achieve these locomotive controls by adjusting their body attitude and impulse during takeoff, deforming their body in midair, and exploiting the hydrophilicity of their ventral tube, known as the collophore. Experiments and mathematical modeling indicate that directional-impulse control during takeoff is driven by the collophore's adhesion force, the body angle, and the stroke duration produced by their jumping organ, the furcula. In midair, springtails curve their bodies to form a U-shape pose, which leverages aerodynamic forces to right themselves in less than ~20 ms, the fastest ever measured in animals. A stable equilibrium is facilitated by the water adhered to the collophore. Aerial righting was confirmed by placing springtails in a vertical wind tunnel and through physical models. Due to these aerial responses, springtails land on their ventral side ~85% of the time while anchoring via the collophore on the water surface to avoid bouncing. We validated the springtail biophysical principles in a bioinspired jumping robot that reduces in-flight rotation and lands upright ~75% of the time. Thus, contrary to common belief, these wingless hexapods can jump, skydive, and land with outstanding control that can be fundamental for survival.

Design of a Biologically Inspired Water-Walking Robot Powered by Artificial Muscle.

The agile and power-efficient locomotion of a water strider has inspired many water-walking devices. These bioinspired water strider robots generally adopt a DC motor to create a sculling trajectory of the driving leg. These robots are, thus, inevitably heavy with many supporting legs decreasing the velocity of the robots. There have only been a few attempts to employ smart materials despite their advantages of being lightweight and having high power densities. This paper proposes an artificial muscle-based water-walking robot capable of moving forward and turning with four degrees of freedom. A compliant amplified shape memory alloy actuator (CASA) used to amplify the strain of a shape memory alloy wire enables a wide sculling motion of the actuation leg with only four supporting legs to support the entire weight of the robot. Design parameters to increase the actuation strain of the actuator and to achieve a desired swing angle (80°) are analyzed. Finally, experiments to measure the forward speed and angular velocities of the robot are carried out to compare with other robots. The robot weighs only 0.236 g and has a maximum and average speed of 1.56, 0.31 body length per second and a maximum and average angular velocity of 145.05°/s and 14.72°/s.