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Modeling of underwater snake robots

Modeling of underwater snake robots

Category
Part of a book/report
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.
Client
  • Norges forskningsråd / 205622
  • Norges forskningsråd / 223254
Language
English
Author(s)
  • Kelasidi Eleni
  • Pettersen Kristin Ytterstad
  • Gravdahl Jan Tommy
  • Liljebäck Pål
Affiliation
  • Norwegian University of Science and Technology
  • SINTEF Digital / Mathematics and Cybernetics
Year
2014
Publisher
Curran Associates, Inc.
Book
2014 IEEE International Conference on Robotics and Automation (ICRA 2014)
ISBN
9781479936861
Page(s)
4540 - 4547