中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名: Optimal turning gait for a three-link underwater robot
作者: 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: 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 1321-1326
收录类别: EI ; CPCI(ISTP)
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
产权排序: 1
WOS记录号: WOS:000380502300242
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17477
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
Optimal turning gait for a three-link underwater robot.pdf(523KB)会议论文--开放获取View Download

Recommended Citation:
Guo X,Ma SG,Li B,et al. Optimal turning gait for a three-link underwater robot[C]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015.
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Guo X(郭宪)]'s Articles
[Ma SG(马书根)]'s Articles
[Li B(李斌)]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Guo X(郭宪)]‘s Articles
[Ma SG(马书根)]‘s Articles
[Li B(李斌)]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: Optimal turning gait for a three-link underwater robot.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace