Development of Biomimetic Fin-Type Amphibious Robot for Precise Path Following Missions

被引：2

作者：

Song, Seokyong ^{[1
]}

Kim, Juhwan ^{[1
]}

Kim, Taesik ^{[1
]}

Rho, Sehwan ^{[1
]}

Yu, Son-Cheol ^{[1
]}

机构：

[1] Pohang Univ Sci & Technol POSTECH, Dept Creat IT Engn, Pohang, South Korea

来源：

GLOBAL OCEANS 2020: SINGAPORE - U.S. GULF COAST | 2020年

关键词：

biomimetic underwater vehicle; underwater hexapod robot; oscillating fin thruster;

D O I：

10.1109/IEEECONF38699.2020.9388969

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

This paper describes the development of an underwater fin-type robot that can swim along a given path with localization and walk on the seabed to inspect the seabed precisely. Oscillating fin systems were designed to generate enough thrust considering the dynamics model of the robot. Then, methods for basic movements, path following, and seabed missions were proposed. Sea trials demonstrated the capability of basic motions, such as surge, heave, and yaw, with localization. Moreover, it appeared that walking on the seabed is also feasible, depending on the fin design and the fin oscillation.

引用

页数：7