Dynamic modeling and hydrodynamic performance of biomimetic underwater robot locomotion

被引：21
作者：
Safak, KK [1 ]
Adams, GG [1 ]
机构：
[1] Northeastern Univ, Mech Ind & Mfg Engn Dept, Boston, MA 02115 USA
来源：
AUTONOMOUS ROBOTS | 2002年 / 13卷 / 03期
关键词：
dynamic modeling; hydrodynamics; biomimetic robot; underwater robot; robot locomotion;
D O I：
10.1023/A:1020516108579
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
We developed a dynamic model of a Nitinol artificial muscle activated biomimetic robot. The robot was reverse engineered from the American lobster and built in the Biomimetic Underwater Robot Program at Northeastern University. It is intended for autonomous remote-sensing operations in shallow waters. An experimentally based Nitinol artificial muscle model was integrated into the robot dynamic model. The hydrodynamic characteristics of the robot were determined experimentally. The muscle control signals were generated by utilizing a readily available biomimetic control architecture. The effects of the timing parameters were investigated. Simulations indicate that the developed robot is able to locomote with high stability. It can walk against constant currents and surge.
引用
收藏
页码：223 / 240
页数：18
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