Robots running on water have attracted the attention of researchers in the last decades as an alternative to conventional aquatic propulsion mechanisms. Up to now, a large scale robot capable of running on water has not been realized. Bouncing on water is a prerequisite for running on water. For this reason, the development of a water bouncing robot represents a necessary first step. The paper presents the model of a 2-degree-of-freedom water bouncing robot inspired by the pogo-stick, a device for jumping off the ground in a standing position. An analytical model of the impact force between “robot's foot” and water is provided for both water-entry and water-exit phases. Such a model has been integrated in a dynamic simulation of whole robot. The model represents a useful and general framework to gain an insight into the parameters that characterize the efficiency of robot.

Cet article présente la simulation d'écoulements autour decorps en mouvement basée sur un solveur Navier-Stokes utilisant destechniques d'adaptation locale de maillage.Après une description des méthodes utilisées, une application à l'étude d'impacts sera présentée. On mettra en évidencel'intérêt de l'adaptation locale de maillage dans ce type de simulation,notamment pour la capture précise des pics de pression engendrés lors des impacts.