Knowledge Commons of Institute of Automation,CAS
Modular design and control of an underwater biomimetic vehicle-manipulator system | |
Rui Wang1,2; Shuo Wang1; Yu Wang1,2; Chong Tang1,2 | |
2016-10 | |
会议名称 | IEEE/RSJ International Conference on Intelligent Robots and Systems Workshop on Robot Modularity |
会议日期 | 2016.10.9—2016.10.14 |
会议地点 | Daejeon, Korea |
摘要 |
This paper addresses the modular design of an underwater biomimetic vehicle-manipulator systems (UBVMS) propelled by undulatory fins. Motivated by the cuttlefish, which can perform flexible motions by undulatory propulsion in narrow spaces, our UBVMS with two undulatory fins is designed. The specific implementation of mechanical structure is detailed. In particular, the design philosophy of modularity is incorporated into the design of the UBVMS, which provides versatility for the UBVMS and facilitates maintenance and future development of the UBVMS, as new modules can be added to replace the obsolete modules easily. In the end, experimental results demonstrate the feasibility and effectiveness of the mechanism and the control system.
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文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/21034 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences 2.University of Chinese Academy of Sciences |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Rui Wang,Shuo Wang,Yu Wang,et al. Modular design and control of an underwater biomimetic vehicle-manipulator system[C],2016. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
P6.pdf(612KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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