Research of the walking type of movement in underwater conditions

Chernyshev, V. V.; Pryanichnikov, Valentin; Arykantsev, V. V.; Вершинина, И. П.; Kalinin, Ya. V.

doi:10.1109/oceanse.2019.8867233

Cited by 4 publications

(1 citation statement)

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“…As a crucial mobile carrier of underwater equipment, underwater robots can be equipped with operational machinery, sample collection devices, environmental sensors, and other equipment to accomplish diverse marine scientific research tasks [ 17 , 18 , 19 , 20 ]. Based on the current structural characteristics, gait planning, and motion control methods of terrestrial legged robots, amphibious robots, and underwater robots.…”

Section: Introductionmentioning

confidence: 99%

Kinematics Analysis and Gait Study of Bionic Turtle Crawling Mechanism

Wang,

Peng,

Zhang

2024

Biomimetics

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Longer distance water delivery culverts pose obstacles such as deposited silt, stones, and dead trees. In this paper, a crawling robot is designed to mimic the joint structure of a turtle using bionic design principles. The mechanism and gait of the robot are analyzed. The kinematics model of the robot is established using the D-H method and analytical approach, while the dynamics model is established using Lagrange’s method. Based on kinematics and dynamics analysis theory, compound cycloid and cubic polynomial motion trajectories for the robot foot are planned along with a crawling gait resembling that of a turtle’s abdomen. Simulation experiments and scale prototype experiments confirm that when gait parameters are identical, the energy consumption of compound cycloid trajectory exceeds that of cubic polynomial foot trajectory. When planning these two types of foot trajectories, it was observed that energy consumption ratio decreases with increasing step length but increases with increasing step height.

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Section: Introductionmentioning

confidence: 99%