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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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Related citation:Ke Yang.Adaptive Swimming of Underwater Snake-like Robot in Different Underwater Environment[J].Journal of Harbin Institute Of Technology(New Series),2023,30(4):58-67.DOI:10.11916/j.issn.1055-9113.2022007.
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Adaptive Swimming of Underwater Snake-like Robot in Different Underwater Environment
Author NameAffiliation
Ke Yang College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China 
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.1055-9113.2022007
Clc Number:TP242
Fund:
Descriptions in Chinese:
  

水下蛇形机器人在不同水下环境中的自适应游动

杨柯

（中国计量大学 机电工程学院， 杭州310018 ）

摘要：本文介绍了水下蛇形机器人的凯恩动力学建模过程，构建了基于CPG和凯恩动力学模型的仿真验证平台。以游动速度最快为目标，研究了水下蛇形机器人身体曲线与水动力系数之间的关系；以躲避障碍物为目标，研究了水下蛇形机器人直线游动与转动的切换问题。

关键字：水下蛇形机器人；凯恩动力学模型；中枢神经发生器；自适应游动；最大游动速度

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