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Simulation study on serpentine locomotion of underwater snake-like robot
Lv YH(吕艳辉); Li L(李立); Wang MH(王明辉); Guo X(郭宪)
作者部门机器人学研究室
关键词Snake-like Robot Density Ratio Gait Parameters Motion Performance Simulation
发表期刊International Journal of Control and Automation
ISSN2005-4297
2015
卷号8期号:1页码:373-384
收录类别EI
EI收录号20150600505759
产权排序2
资助机构Computer Application Technology Key Discipline Open Fund of Shenyang Ligong University
摘要Serpentine locomotion of underwater snake-like robot is very complicated. In order to better control the motion state, a simulation model of underwater snake-like robot is established to investigate the relationship between the motion performance and the mechanical structure characteristics together with serpentine gait parameters. Based on the density ratio defined as the ratio of snake-like robot density to water density, the locomotion speed, output power and energy consumption of underwater snake-like robot is discussed. Further, with the optimum density ratio, the influence of serpentine gait parameters on the locomotion speed is analyzed. The simulation results show that the density ratio has great influence on the motion performance and the energy consumption of underwater snake-like robot, which can provide important basis for the research of underwater snake-like robot in terms of motion performance optimization and mechanical structure design.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/19924
专题机器人学研究室
通讯作者Lv YH(吕艳辉)
作者单位1.College of Information Science and Engineering, Shenyang Ligong University, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
推荐引用方式
GB/T 7714
Lv YH,Li L,Wang MH,et al. Simulation study on serpentine locomotion of underwater snake-like robot[J]. International Journal of Control and Automation,2015,8(1):373-384.
APA Lv YH,Li L,Wang MH,&Guo X.(2015).Simulation study on serpentine locomotion of underwater snake-like robot.International Journal of Control and Automation,8(1),373-384.
MLA Lv YH,et al."Simulation study on serpentine locomotion of underwater snake-like robot".International Journal of Control and Automation 8.1(2015):373-384.
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