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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.
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Category

Academic chapter

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

Year

2014

Publisher

Curran Associates, Inc.

Book

2014 IEEE International Conference on Robotics and Automation (ICRA 2014)

ISBN

9781479936861

Page(s)

4540 - 4547

View this publication at Norwegian Research Information Repository