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A Novel Underwater Snake-like Robot with Gliding Gait
Tang JG(唐敬阁)1,2; Li B(李斌)1; Li ZQ(李志强)1; Chang J(常健)1
作者部门机器人学研究室
会议名称7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
会议日期July 31 - August 4, 2017
会议地点Hawaii, USA
会议主办者IEEE Robotics and Automation Society
会议录名称2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
出版者IEEE
出版地New York
2017
页码1113-1118
收录类别EI ; CPCI(ISTP)
EI收录号20183905873497
WOS记录号WOS:000447628700201
产权排序1
ISBN号978-1-5386-0489-2
关键词Underwater Snake-like Robot Gliding Gait Telescopic Joint Dynamic Model
摘要

In order to improve the energy efficiency of the underwater snake-like robot, the gliding motion of the underwater glider is introduced into the underwater snake-like robot. The novel underwater glide snake-like robot owns good properties of the underwater snake-like robot with high mobility and the underwater glider with long endurance. In this paper, the gliding gait is mainly studied. The telescopic joint and pitch-yaw joint of the underwater glide snake-like robot are presented firstly. The designed telescopic joint has the characteristic of simultaneously changing the net buoyancy, and the relative position between the center of gravity(CG) and the center of buoyancy(CB), which simplifies the structure of the robot. Then, a detailed three-dimensional mathematical model is derived based on the theorem of momentum and the theorem of moment of momentum, and a steady motion model in two-dimensional plane is also obtained for the analysis of the equilibrium gliding. Further, the values of parameters in the equilibrium state are computed through simulation. According to the developed prototype, pool experiments are carried out and the results verify the effectiveness of the proposed joint structure.

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/173321/22838
专题机器人学研究室
通讯作者Tang JG(唐敬阁)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016 China
2.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式
GB/T 7714
Tang JG,Li B,Li ZQ,et al. A Novel Underwater Snake-like Robot with Gliding Gait[C]//IEEE Robotics and Automation Society. New York:IEEE,2017:1113-1118.
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