SIA OpenIR  > 机器人学研究室
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
Department机器人学研究室
Conference Name7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
Conference DateJuly 31 - August 4, 2017
Conference PlaceHawaii, USA
Author of SourceIEEE Robotics and Automation Society
Source Publication2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
PublisherIEEE
Publication PlaceNew York
2017
Pages1113-1118
Indexed ByEI ; CPCI(ISTP)
EI Accession number20183905873497
WOS IDWOS:000447628700201
Contribution Rank1
ISBN978-1-5386-0489-2
KeywordUnderwater Snake-like Robot Gliding Gait Telescopic Joint Dynamic Model
Abstract

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.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/22838
Collection机器人学研究室
Corresponding AuthorTang JG(唐敬阁)
Affiliation1.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
Recommended Citation
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.
Files in This Item:
File Name/Size DocType Version Access License
A Novel Underwater S(891KB)会议论文 开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Tang JG(唐敬阁)]'s Articles
[Li B(李斌)]'s Articles
[Li ZQ(李志强)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Tang JG(唐敬阁)]'s Articles
[Li B(李斌)]'s Articles
[Li ZQ(李志强)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Tang JG(唐敬阁)]'s Articles
[Li B(李斌)]'s Articles
[Li ZQ(李志强)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: A Novel Underwater Snake-like Robot with Gliding Gait.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

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