Analysis of underwater snake robot locomotion based on a control-oriented model

Anna M. Kohl, K. Pettersen, E. Kelasidi, J. Gravdahl
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引用次数: 10

Abstract

This paper presents an analysis of planar underwater snake robot locomotion in the presence of ocean currents. The robot is assumed to be neutrally buoyant and move fully submerged with a planar sinusoidal gait and limited link angles. As a basis for the analysis, an existing, control-oriented model is further simplified and extended to general sinusoidal gaits. Averaging theory is then employed to derive the averaged velocity dynamics of the underwater snake robot from that model. It is proven that the averaged velocity converges exponentially to an equilibrium, and an analytical expression for calculating the forward velocity of the robot in steady state is derived. A simulation study that validates both the proposed modelling approach and the theoretical results is presented.
基于面向控制模型的水下蛇形机器人运动分析
本文对平面水下蛇形机器人在洋流作用下的运动进行了分析。假设机器人具有中性浮力,并以平面正弦步态和有限的连杆角在水下完全移动。作为分析的基础,将现有的面向控制的模型进一步简化并扩展到一般的正弦步态。然后利用平均理论推导出蛇形水下机器人的平均速度动力学。证明了平均速度指数收敛于平衡状态,并导出了机器人稳态前进速度的解析表达式。仿真研究验证了所提出的建模方法和理论结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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