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Modular design and control of an underwater biomimetic vehicle-manipulator system
Rui Wang1,2; Shuo Wang1; Yu Wang1,2; Chong Tang1,2
2016-10
Conference NameIEEE/RSJ International Conference on Intelligent Robots and Systems Workshop on Robot Modularity
Conference Date2016.10.9—2016.10.14
Conference PlaceDaejeon, Korea
Abstract
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.
 
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/21034
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.Institute of Automation, Chinese Academy of Sciences
2.University of Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Rui Wang,Shuo Wang,Yu Wang,et al. Modular design and control of an underwater biomimetic vehicle-manipulator system[C],2016.
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