Modeling and Motion Control of Underwater Snake Robot
To address the autonomous swimming difficulty of an underwater snake robot in a complex underwater environment, this study designed an underwater snake robot mechanism. A kinematic model was established based on the snake motion mechanism, and a motion control method based on fuzzy control and a cen...
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| Format: | Article |
| Language: | zho |
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Science Press (China)
2024-12-01
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| Series: | 水下无人系统学报 |
| Subjects: | |
| Online Access: | https://sxwrxtxb.xml-journal.net/cn/article/doi/10.11993/j.issn.2096-3920.2024-0009 |
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| _version_ | 1841557019414233088 |
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| author | Peijuan LI Gang YANG Tiezheng GUO Yang LU |
| author_facet | Peijuan LI Gang YANG Tiezheng GUO Yang LU |
| author_sort | Peijuan LI |
| collection | DOAJ |
| description | To address the autonomous swimming difficulty of an underwater snake robot in a complex underwater environment, this study designed an underwater snake robot mechanism. A kinematic model was established based on the snake motion mechanism, and a motion control method based on fuzzy control and a central pattern generator(CPG) was proposed. The CPG model was constructed by several Hopf oscillators with double-coupled chain network structure after the stability analysis of the limit cycle in a single Hopf oscillator model, and a fuzzy controller and the CPG model were introduced to form a closed-loop control network. The simulation and experiment of an underwater snake robot were carried out. The prototype can complete the experiments of linear meandering movement, left and right turning movement, and U-shaped movement. The experimental results show that the underwater snake robot not only has good stability but also can maintain superior flexibility and maneuverability in the three motion modes. |
| format | Article |
| id | doaj-art-6a8e99bf0c294c739c12c4a4f037e6e8 |
| institution | Kabale University |
| issn | 2096-3920 |
| language | zho |
| publishDate | 2024-12-01 |
| publisher | Science Press (China) |
| record_format | Article |
| series | 水下无人系统学报 |
| spelling | doaj-art-6a8e99bf0c294c739c12c4a4f037e6e82025-01-07T02:42:15ZzhoScience Press (China)水下无人系统学报2096-39202024-12-013261091109910.11993/j.issn.2096-3920.2024-00092024-0009Modeling and Motion Control of Underwater Snake RobotPeijuan LI0Gang YANG1Tiezheng GUO2Yang LU3Engineering Training Center/School of Applied Technology, Nanjing Institute of Technology, Nanjing 211167, ChinaEngineering Training Center/School of Applied Technology, Nanjing Institute of Technology, Nanjing 211167, ChinaEngineering Training Center/School of Applied Technology, Nanjing Institute of Technology, Nanjing 211167, ChinaEngineering Training Center/School of Applied Technology, Nanjing Institute of Technology, Nanjing 211167, ChinaTo address the autonomous swimming difficulty of an underwater snake robot in a complex underwater environment, this study designed an underwater snake robot mechanism. A kinematic model was established based on the snake motion mechanism, and a motion control method based on fuzzy control and a central pattern generator(CPG) was proposed. The CPG model was constructed by several Hopf oscillators with double-coupled chain network structure after the stability analysis of the limit cycle in a single Hopf oscillator model, and a fuzzy controller and the CPG model were introduced to form a closed-loop control network. The simulation and experiment of an underwater snake robot were carried out. The prototype can complete the experiments of linear meandering movement, left and right turning movement, and U-shaped movement. The experimental results show that the underwater snake robot not only has good stability but also can maintain superior flexibility and maneuverability in the three motion modes.https://sxwrxtxb.xml-journal.net/cn/article/doi/10.11993/j.issn.2096-3920.2024-0009underwater snake robotfuzzy controllercentral pattern generatormotion control |
| spellingShingle | Peijuan LI Gang YANG Tiezheng GUO Yang LU Modeling and Motion Control of Underwater Snake Robot 水下无人系统学报 underwater snake robot fuzzy controller central pattern generator motion control |
| title | Modeling and Motion Control of Underwater Snake Robot |
| title_full | Modeling and Motion Control of Underwater Snake Robot |
| title_fullStr | Modeling and Motion Control of Underwater Snake Robot |
| title_full_unstemmed | Modeling and Motion Control of Underwater Snake Robot |
| title_short | Modeling and Motion Control of Underwater Snake Robot |
| title_sort | modeling and motion control of underwater snake robot |
| topic | underwater snake robot fuzzy controller central pattern generator motion control |
| url | https://sxwrxtxb.xml-journal.net/cn/article/doi/10.11993/j.issn.2096-3920.2024-0009 |
| work_keys_str_mv | AT peijuanli modelingandmotioncontrolofunderwatersnakerobot AT gangyang modelingandmotioncontrolofunderwatersnakerobot AT tiezhengguo modelingandmotioncontrolofunderwatersnakerobot AT yanglu modelingandmotioncontrolofunderwatersnakerobot |