유영과 보행이 가능한 생체모방 수중 로봇의 설계개념과 근사모델을 활용한 모의실험
Bio-inspired Walking and Swimming Underwater Robot Designing Concept and Simulation by an Approximated Model for the robot
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초록
This paper describes the design concept of a bio-inspired legged underwater and estimatingits performance by implementing simulations. Especially the leg structure of an underwater organism,diving beetles, is fully adopted to our designing to employ its efficiency for swimming. To make itpossible for the robot to both walk and swim, the transformable kinematic model according toapplications of the leg is proposed. To aid in the robot development and estimate swimmingperformance of the robot in advance, an underwater simulator has been constructed and anapproximated model based on the developing robot was set up in the simulation. Furthermore,previous work that we have done, the swimming locomotion produced by a swimming pattengenerator based on the control parameters, is briefly mentioned in the paper and adopted to thesimulation for extensive studies such as path planning and control techniques. Through the results, weestablished the strategy of leg joints which make the robot swim in the three dimensional space toreach effective controls.
Abstract
This paper describes the design concept of a bio-inspired legged underwater and estimatingits performance by implementing simulations. Especially the leg structure of an underwater organism,diving beetles, is fully adopted to our designing to employ its efficiency for swimming. To make itpossible for the robot to both walk and swim, the transformable kinematic model according toapplications of the leg is proposed. To aid in the robot development and estimate swimmingperformance of the robot in advance, an underwater simulator has been constructed and anapproximated model based on the developing robot was set up in the simulation. Furthermore,previous work that we have done, the swimming locomotion produced by a swimming pattengenerator based on the control parameters, is briefly mentioned in the paper and adopted to thesimulation for extensive studies such as path planning and control techniques. Through the results, weestablished the strategy of leg joints which make the robot swim in the three dimensional space toreach effective controls.
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