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Development of Multibody Marine Robots: A Review
Kang S(康帅)1,2,3; Yu JC(俞建成)1,2; Zhang J(张进)1,2; Jin QL(金乾隆)1,2,3
Department海洋机器人卓越创新中心
Corresponding AuthorZhang, Jin(zhangjin1@sia.cn)
Source PublicationIEEE Access
ISSN2169-3536
2020
Volume8Pages:21178-21195
Indexed BySCI ; EI
EI Accession number20200908220089
WOS IDWOS:000525391900046
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China under Grant 51909257 ; State Key Laboratory of Robotics at Shenyang Institute of Automation under Grant 2019-Z13 ; National Natural Science Foundation of China under Grant U1709202 ; National Key Research and Development Program of China under Grant 2016YFC0300801 ; Youth Innovation Promotion Association of China CAS under Grant 2016185
KeywordMultibody marine robot underwater vehicle hydrodynamic characteristic topology connection structure
Abstract

Multibody marine robots, representing a promising research and development area, have gained acute attention and response from civil and military fields. A multibody marine robot is a multibody system composed of multiple single-body marine robots (defined as a unit) in a certain topology. Such a system is generally characterized by underactuation, hyperredundancy, power distribution, modularization and so on. Compared with traditional single-body marine robots, multibody marine robots can carry greater loads and have more forms of motion, so they can meet more specialized functional requirements. At the same time, they also have more complex hydrodynamic characteristics due to their unique structures and motion forms. In this paper, the types, features, and hydrodynamic characteristics of typical multibody marine robots are reviewed and summarized based on the connection structures between units. In addition, the development trends of multibody marine robots are analyzed and discussed. This review work anticipates positive attention from future readers regarding multibody marine robots, which represent an important subarea of marine robots.

Language英语
WOS SubjectComputer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS KeywordHYDRODYNAMIC INTERACTION ; WAVE GLIDER ; UNDERWATER ; AUV ; SIMULATION ; LOCOMOTION ; PROPULSION ; DYNAMICS ; IMPACT ; DRIVEN
WOS Research AreaComputer Science ; Engineering ; Telecommunications
Funding ProjectNational Natural Science Foundation of China[U1709202] ; State Key Laboratory of Robotics at Shenyang Institute of Automation[2019-Z13] ; National Key Research and Development Program of China[2016YFC0300801] ; Youth Innovation Promotion Association of China CAS[2016185]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26364
Collection海洋机器人卓越创新中心
Corresponding AuthorZhang J(张进)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Kang S,Yu JC,Zhang J,et al. Development of Multibody Marine Robots: A Review[J]. IEEE Access,2020,8:21178-21195.
APA Kang S,Yu JC,Zhang J,&Jin QL.(2020).Development of Multibody Marine Robots: A Review.IEEE Access,8,21178-21195.
MLA Kang S,et al."Development of Multibody Marine Robots: A Review".IEEE Access 8(2020):21178-21195.
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