TY - GEN
T1 - Design and Motion control of a Small Underwater Robot
AU - Guo, Miaochen
AU - Mo, Jixue
AU - Miao, Zhihuai
AU - Li, Bing
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - In order to solve the conflict of energy utilization and dynamic performance in the underwater robot, this paper proposes a new structure of it. The underwater robot in the paper has two motion modes, cruise mode and tracking mode. In its cruise mode, straight-swimming, turning-swimming, burst, rising and diving are realized like a fish. It has a three -DOF biomimetic tail which can simulate fish swimming. In tracking mode, it can also realize the motion in the cruise mode, but it is thrusted by propellers. So it has a powerful motivation and can swim more smoothly and faster. And it also benefits to use camera to trace targets. We use modular design in it. Each part of the robot can be disassembled. Furthermore, the paper also deals with the motion control of the robot. By the two motion modes, the conflict of energy utilization and dynamic performance is solved. The paper finally proves the superiority of the underwater robot's performance through experiments.
AB - In order to solve the conflict of energy utilization and dynamic performance in the underwater robot, this paper proposes a new structure of it. The underwater robot in the paper has two motion modes, cruise mode and tracking mode. In its cruise mode, straight-swimming, turning-swimming, burst, rising and diving are realized like a fish. It has a three -DOF biomimetic tail which can simulate fish swimming. In tracking mode, it can also realize the motion in the cruise mode, but it is thrusted by propellers. So it has a powerful motivation and can swim more smoothly and faster. And it also benefits to use camera to trace targets. We use modular design in it. Each part of the robot can be disassembled. Furthermore, the paper also deals with the motion control of the robot. By the two motion modes, the conflict of energy utilization and dynamic performance is solved. The paper finally proves the superiority of the underwater robot's performance through experiments.
UR - https://www.scopus.com/pages/publications/85062067333
U2 - 10.1109/CBS.2018.8612216
DO - 10.1109/CBS.2018.8612216
M3 - 会议稿件
AN - SCOPUS:85062067333
T3 - 2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018
SP - 378
EP - 384
BT - 2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018
Y2 - 25 October 2018 through 27 October 2018
ER -