Paper Info
Title
Dynamic Modeling and Hydrodynamic Performance of Biomimetic Underwater Robot Locomotion
Abstract
We developed a dynamic model of a Nitinol artificial muscle activated biomimetic robot. The robot was reverse engineered from the American lobster and built in the Biomimetic Underwater Robot Program at Northeastern University. It is intended for autonomous remote-sensing operations in shallow waters. An experimentally based Nitinol artificial muscle model was integrated into the robot dynamic model. The hydrodynamic characteristics of the robot were determined experimentally. The muscle control signals were generated by utilizing a readily available biomimetic control architecture. The effects of the timing parameters were investigated. Simulations indicate that the developed robot is able to locomote with high stability. It can walk against constant currents and surge.
Year
DOI
Venue
2002
10.1023/A:1020516108579
Auton. Robots
Keywords
Field
DocType
dynamic modeling,hydrodynamics,biomimetic robot,underwater robot,robot locomotion
Computer science,Simulation,Reverse engineering,Robot locomotion,Underwater robot,System dynamics,Robot,Artificial muscle
Journal
Volume
Issue
ISSN
13
3
1573-7527
Citations 
PageRank 
References 
5
0.84
2
Authors
2
Name
Order
Citations
PageRank
Koray K. Safak1143.88
George G. Adams2143.21