Swimming Plans for a Bio-inspired Articulated Underwater Robot

생체모방형 수중다관절 로봇의 유영계획

  • Kim, Hee-Jong (Department of Mechatronics Engineering, Chung-nam National University) ;
  • Lee, Jihong (Department of Mechatronics Engineering, Chung-nam National University)
  • 김희중 (충남대학교 메카트로닉스 공학과) ;
  • 이지홍 (충남대학교 메카트로닉스 공학과)
  • Received : 2013.05.15
  • Accepted : 2013.06.30
  • Published : 2013.09.01


In this paper, we propose a better solution for swimming plans of an articulated underwater robot, Crabster, with a view point of biomimetics. As a biomimetic model of underwater organisms, we chose diving beetles structurally similar to Crabster. Various swimming locomotion of the diving beetle has been observed and sorted by robotics technology through experiments with a high-speed camera and image processing software Image J. Subsequently, coordinated patterns of rhythmic movements of the diving beetle are reproduced by simple control parameters in a parameter space which make it easy to control trajectories and velocities of legs. Furthermore, a simulation was implemented with an approximated model to predict the motion of the robot under development based on the classified forward and turning locomotion. Consequently, we confirmed the applicability of parameterized leg locomotion to the articulated underwater robot through the simulated results by the approximated model.


Supported by : 한국해양연구원


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