水生机器人系统中鱼类游动模式的仿真研究

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI:10.1109/ICAR.2005.1507388

Eunjung Kim, Y. Youm

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引用次数: 0

摘要

在本文中，我们展示了仿真结果，以找到适合鱼类水下机器人系统的鱼类游泳模式(特别是BCF游泳)。为了找到合适的游泳模式，我们假设它们具有相同的长度、体积和重量，但执行器(关节)的数量不同。我们使用每个游泳模式的最小关节数。用凯恩法推导了各系统的动力学方程，并用DADS对结果进行了比较。针对某些水上运动，特别是速度更快(推进效率高)和机动性更强(快速转弯)的运动，提出了游泳模式的最优解。

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Simulation study of fish swimming modes for aquatic robot system

In this paper, we show the simulation result to find the suitable fish swimming modes (specially BCF swimming) for fish like underwater robot system. To find the suitable swimming modes, we assume that they have the same length, volume, and weight, but the different numbers of actuator (joint). And we use the minimum number of the joint for each swimming mode. We derive the dynamic equation for each system using Kane's method and these results are compared by DADS. We present the optimal solution of swimming mode for some aquatic locomotion, especially faster(high propulsive efficiency) and more maneuverable (quick turning motion)

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ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.

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