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A New Concept Spherical Underwater Robot with High Mobility
Geng LB(耿令波); Hu ZQ(胡志强); Lin Y(林扬); Yi RW(衣瑞文); Wang C(王超)
作者部门海洋信息技术装备中心
会议名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期June 8-12, 2015
会议地点Shenyang, China
会议录名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码887-890
收录类别EI ; CPCI(ISTP)
EI收录号20161402187565
WOS记录号WOS:000380502300168
产权排序1
ISSN号2379-7711
ISBN号978-1-4799-8730-6
关键词Amphibious Robot Spherical Robot Underwater Robot
摘要In this paper, a new concept spherical underwater robot with the ability of moving both on the ground and underwater is designed. The robot has a spherical hull, with the differential driving mechanism inside the hull, and two propellers at each side of the sphere outside the hull. The Omni-directional rolling of the robot on the ground is realized by the inside differential mechanism. The propeller outside the spherical hull provides the thrust needed to swim underwater. The robot can pitch and yaw just by the inside differential mechanism without the need of control surfaces. This design makes it highly maneuverable even with zero forward speed. The mechanical and structural design of the robot is described, with the mechanism of the motion both on ground and underwater is discussed. At the end of the paper, the potential usage and the future improvement is given.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17337
专题海洋信息技术装备中心
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Geng LB,Hu ZQ,Lin Y,et al. A New Concept Spherical Underwater Robot with High Mobility[C]. Piscataway, NJ, USA:IEEE,2015:887-890.
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