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.
Academic chapter/article/Conference paper
- Research Council of Norway (RCN) / 223254
- Research Council of Norway (RCN) / 205622
- Eleni Kelasidi
- Kristin Ytterstad Pettersen
- Jan Tommy Gravdahl
- Pål Liljebäck
- Norwegian University of Science and Technology
- SINTEF Digital / Mathematics and Cybernetics
Curran Associates, Inc.
2014 IEEE International Conference on Robotics and Automation (ICRA 2014)
4540 - 4547