Modeling of underwater snake robots

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.