Basilisk Lizard Force Interactions with Fluid Environments

Current robotic systems have difficulties traversing and interacting with complex and deformable terrains, such as sand, mud, and water. This research intends to find hierarchical concepts that can be implemented into robotic systems for efficient locomotion by studying animal interactions with these terrains. Due to specific biological characteristics and environmental factors, the basilisk lizard is one animal that can transition easily between many types of terrain. This research will investigate the dynamics and kinematics of the basilisk lizard as it runs on the surface of water. Specifically, a fluid dynamic force platform has been designed and developed that will directly measure the forces exerted by the animal’s feet as it runs across the water. This platform will be used in conjunction with a motion capture system to characterize the basilisk lizard movements. This report examines the design and development of the force platform, the characterization of the frequencies of the platform leading to validation, and presents observations from preliminary lizard experiments with the setup.