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Supervised by Ministry of Industry and Information Technology of The People's Republic of China Sponsored by Harbin Institute of Technology Editor-in-chief Yu Zhou ISSNISSN 1005-9113 CNCN 23-1378/T

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Adaptive Swimming of Underwater Snake-Like Robot in Different Underwater Environment
Author NameAffiliationPostcode
Ke Yang* College of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou 310018,China 310018
Abstract:
Hydrodynamic force is an important factor that affects the performance of underwater vehicle. Adapting to the current underwater environment by changing its shape is an important feature of underwater snake-like robots (USLR). An experiment was implemented to verify the swimming along the straight line of USLR. A simulation platform is also established for the analysis of the swimming of USLR. To figure out adaptive swimming of USLR to different underwater environments, the relationships between CPG parameters and maximum swimming speed have been discussed, and the switching between different swimming modes has been implemented.
Key words:  underwater snake-like robot  Kane dynamic model  central pattern generator (CPG)  adaptive swimming  maximum swimming speed
DOI：10.11916/j.issn.1005-9113.2022007
Clc Number:TP242
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