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Optimal turning gait for a three-link underwater robot
Guo X(郭宪); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
作者部门机器人学研究室
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1321-1326
收录类别EI ; CPCI(ISTP)
EI收录号20161402187864
WOS记录号WOS:000380502300242
产权排序1
ISSN号2379-7711
ISBN号978-1-4799-8730-6
摘要High maneuverable turning gait is essential to improve the locomotion ability for the three-link underwater robot. Using the traditional method, the optimal turning gait is a numerical solution. This paper proposes a geometric method to get the optimal turning gait which is the analytical solution. Generally, the zero-contour of the orientation angle for the 3-link underwater robot is the optimal gait [6]. However for the actual robot, the boundary constraints should also be considered. The curve fitting method is used to analyze the boundary constraints. Then the optimal sinusoidal gait is derived by using the analytical geometry and the optimal boundary gait is derived by using Fourier series. By calculation, the rotational angle with optimal sinusoidal gait and the optimal boundary gait increases 21.79% and 27.74% compared to the "C" gait [10]. The numerical simulation shows posture change with the optimal sinusoidal gait and with the optimal boundary gait over one period for the 3-link underwater robot.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17477
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China
2.University of Chinese Academy of Sciences, Beiging, China
3.Department of Robotics, Ritsumeikan University, Shiga-ken, China
推荐引用方式
GB/T 7714
Guo X,Ma SG,Li B,et al. Optimal turning gait for a three-link underwater robot[C]. Piscataway, NJ, USA:IEEE,2015:1321-1326.
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