지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2014.3
- 수록면
- 57 - 66 (10page)
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초록· 키워드
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This paper describes the design concept of a bio-inspired legged underwater and estimating its performance by implementing simulations. Especially the leg structure of an underwater organism, diving beetles, is fully adopted to our designing to employ its efficiency for swimming. To make it possible for the robot to both walk and swim, the transformable kinematic model according to applications of the leg is proposed. To aid in the robot development and estimate swimming performance of the robot in advance, an underwater simulator has been constructed and an approximated model based on the developing robot was set up in the simulation. Furthermore, previous work that we have done, the swimming locomotion produced by a swimming patten generator based on the control parameters, is briefly mentioned in the paper and adopted to the simulation for extensive studies such as path planning and control techniques. Through the results, we established the strategy of leg joints which make the robot swim in the three dimensional space to reach effective controls.
목차
Abstract
1. 서론
2. 생체모방 다관절 로봇
3. 유영동작 생성기법을 적용하기 위한 유영 모의실험 환경구축
4. 유영발생기법을 적용한 3차원 유영모의실험
5. 결론
References
참고문헌 (14)
참고문헌 신청
1. [학술대회논문] - H. Hu / 2006 / Biologically inspired design of autonomous robotic fish at essex / Proc. of the IEEE SMC UK-RI Chapter Conference on Advances in Cybernetic Systems
2. [학술지(정기간행물)] - A. Crepsi / 2008 / Controllong and crawling in a fish robot using a central pattern generator / Autonomous Robots 25 (1) : 3 ~ 13
3. [학술지(정기간행물)] - K. K. Safak / 2002 / Dynamic modeling and hydrodynamic performance of biomimetic underwater robot locomotion / Autonomous Robot 13 : 223 ~ 240
4. [학술대회논문] - J. Guo / 2002 / Motion control abd way-point tracking of a biomimetic underwater vehicle / Proc. of the IEEE Symposium on Underwater Technology : 73 ~ 78
5. [학술지(정기간행물)] - M. S. Traiantafyllou / 1995 / An efficient Swimming machine / Scientific American 272 (3) : 64 ~ 70
2. [학술지(정기간행물)] - A. Crepsi / 2008 / Controllong and crawling in a fish robot using a central pattern generator / Autonomous Robots 25 (1) : 3 ~ 13
3. [학술지(정기간행물)] - K. K. Safak / 2002 / Dynamic modeling and hydrodynamic performance of biomimetic underwater robot locomotion / Autonomous Robot 13 : 223 ~ 240
4. [학술대회논문] - J. Guo / 2002 / Motion control abd way-point tracking of a biomimetic underwater vehicle / Proc. of the IEEE Symposium on Underwater Technology : 73 ~ 78
5. [학술지(정기간행물)] - M. S. Traiantafyllou / 1995 / An efficient Swimming machine / Scientific American 272 (3) : 64 ~ 70
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UCI(KEPA) : I410-ECN-0101-2020-559-001258375