高技术通讯2017，Vol.27Issue(9)：840-847,8.DOI:10.3772/j.issn.1002-0470.2017.09-10.009
蛇形机器人水中转弯游动仿真研究
Simulation research on turning motion of underwater snake-like robots
摘要
Abstract
Snake swimming locomotion in barrier environments is observed , and a snake-like robot model adaptable to underwater swimming is established by using the dynamics simulation software of V-REP, and then, its turning swimming performance is studied .According to the serpenoid curve , the turning swimming modes of phase adjust-ment, center factor adjustment and amplitude adjustment are generated .The advantages and disadvantages of each mode are analyzed and compared for providing the technical reserves and feasibility verification for snake -like robots' actual underwater turning swimming .关键词
蛇形机器人/动力学仿真/蛇形曲线/转弯游动Key words
snake-like robot/dynamic simulation/serpenoid curve/turning swimming引用本文复制引用
卢振利,谢亚飞,徐惠钢,刘军,单长考,波罗瓦茨·布朗尼斯拉夫,李斌..蛇形机器人水中转弯游动仿真研究[J].高技术通讯,2017,27(9):840-847,8.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-O08)和校新引进教师科研启动(XZ1306)资助项目. （61473283）
