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Modeling of underwater snake robots

Modeling of underwater snake robots

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Sammendrag
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.
Oppdragsgiver
  • Norges forskningsråd / 205622
  • Norges forskningsråd / 223254
Språk
Engelsk
Forfatter(e)
  • Kelasidi Eleni
  • Pettersen Kristin Ytterstad
  • Gravdahl Jan Tommy
  • Liljebäck Pål
Institusjon(er)
  • Norges teknisk-naturvitenskapelige universitet
  • SINTEF Digital / Mathematics and Cybernetics
År
2014
Forlag
Curran Associates, Inc.
Bok
2014 IEEE International Conference on Robotics and Automation (ICRA 2014)
ISBN
9781479936861
Side(r)
4540 - 4547