Analysis and Experiment on the Steering Control of a Water-running Robot Using Hydrodynamic Forces

被引：10

作者：

Kim, HyunGyu ^{[1
]}

Jeong, Kyungmin ^{[2
]}

Seo, TaeWon ^{[1
]}

机构：

[1] Yeungnam Univ, Sch Mech Engn, Gyongsan 712749, South Korea

[2] Korea Atom Energy Res Inst, Nucl Convergence Technol Div, Taejon 305353, South Korea

来源：

JOURNAL OF BIONIC ENGINEERING | 2017年 / 14卷 / 01期

基金：

新加坡国家研究基金会;

关键词：

basilisk lizard; water-running robot; steering; Static Tail (ST); Dynamic Tail (DT); planar two-link rigid body; PERFORMANCE; DESIGN; TAIL; FISH;

D O I：

10.1016/S1672-6529(16)60376-1

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Steering is important for the high maneuverability of mobile robots. Many studies have been performed to improve the maneuverability using a tail. The aim of this research was to verify the performance of a water-running robot steering on water using a tail. Kinematic analysis was performed for the leg mechanism and the interaction forces between the water and the feet to calculate the propulsive drag force of the water. This paper suggests a simplified planar two-link rigid body model to determine the dynamic performance of the robotic platform with respect to the effect of the tail's motion. Simulations based on a dynamic model were performed by applying a range of motions to the tail. In addition, a simulation with a Bang-bang controller was also performed to control the main frame's yawing locomotion. Finally, an experiment was conducted with the controller, and the simulation and experimental results were compared. These results can be used as a guideline to develop a steerable water-running robot.

引用

页码：34 / 46

页数：13

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