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Modeling of underwater snake robots

Abstract

Increasing efficiency by improving the locomotion
methods is a key issue for underwater robots. Hence, an
accurate dynamic model is important for both controller design
and efficient locomotion methods. This paper presents a model
of the kinematics and dynamics of a planar, underwater snake
robot aimed at control design. Fluid contact forces and torques
are modeled using analytical fluid dynamics. The model is
derived in a closed form and can be utilized in modern
model-based control schemes. The proposed model is easily
implemented and simulated, regardless of the number of robot
links. Simulation results with a ten link robotic system are
presented.

Category

Conference lecture

Language

English

Author(s)

  • Eleni Kelasidi
  • Kristin Ytterstad Pettersen
  • Jan Tommy Gravdahl
  • Pål Liljebäck

Affiliation

  • SINTEF Digital / Mathematics and Cybernetics
  • Norwegian University of Science and Technology

Presented at

IEEE International Conference on Robotics and Automation (ICRA)

Place

Hong Kong

Date

31.05.2014 - 05.06.2014

Year

2014

View this publication at Norwegian Research Information Repository