高技术通讯2016，Vol.26Issue(10)：876-882,7.DOI:10.3772/j.issn.1002-0470.2016.10-11.007
蛇形机器人水中上浮下潜运动仿真研究
Simulation Study on Rising and Diving locomotion of underwater snake-like robot
摘要
Abstract
The three-dimensional gait of a snake-like robot moving in water was studied according to underwater environment characteristics.A model for underwater snake-like robots with vertical and horizontal joints was established based on the dynamic simulation software called the virtual robot experimental platform (V-REP).Based on the serpenoid curve,the model's depth in water was changed step by step to realize the rising and diving motions.The position,exerted force,joint torque and motion efficiency of snake-like robots moving in water were analyzed to provide practical referential data for practicalizing them.Besides,the effectiveness of the method for 3D space motion was verified.关键词
蛇形机器人/虚拟机器人实验平台(V-REP)/仿真/蛇形曲线/上浮/下潜Key words
snake-like robot/virtual robot experimental platform (V-REP)/simulation/serpenoid curve/rising/diving引用本文复制引用
谢亚飞,卢振利,徐惠钢,李斌..蛇形机器人水中上浮下潜运动仿真研究[J].高技术通讯,2016,26(10):876-882,7.基金项目
国家自然科学基金(61473283),机器人学国家重点实验室开放基金(2014-008)和校新引进教师科研启动项目(XZ1306)资助. （61473283）
