Constrained multi-body dynamics for modular underwater robots — Theory and experiments
نویسندگان
چکیده
منابع مشابه
A Multi-soft-body Dynamic Model for Underwater Soft Robots
We present a unified formulation for describing the dynamics of a new class of aquatic multi-body soft robots. This formulation accounts for the continuum hyperelastic nature of the vehicles and for the interaction with the dense fluid across which they dwell. We start by introducing the highly unconventional design concept of a soft underwater vehicle inspired by the octopus capable of swimmin...
متن کاملExperiments in Distributed Control for Modular Robots
Effective algorithms for modular self-reconfiguring robots should be distributed and parallel. In previous work, we explored general algorithms for locomotion and self-replication and explained their instantiations to systems in which modules move over the surface of the robot. In this work, we present several algorithms and implementations applied to the Crystal robot: distributed locomotion a...
متن کاملExperiments with Cooperative Control of Underwater Robots
In this paper we describe cooperative control algorithms for robots and sensor nodes in an underwater environment. Cooperative navigation is defined as the ability of a coupled system of autonomous robots to pool their resources to achieve long-distance navigation and a larger controllability space. Other types of useful cooperation in underwater environments include: exchange of information su...
متن کاملEstimation of Thruster Configurations for Reconfigurable Modular Underwater Robots
We present an algorithm for estimating thruster configurations of underwater vehicles with reconfigurable thrusters. The algorithm estimates each thruster’s effect on the vehicle’s attitude and position. The estimated parameters are used to maintain the robot’s attitude and position. The algorithm operates by measuring impulse response of individual thrusters and thruster combinations. Statisti...
متن کاملUAVision: A Modular Time-Constrained Vision Library for Soccer Robots
The game of soccer is one of the main focuses of the RoboCup competitions, being a fun and entertaining research environment for the development of autonomous multi-agent cooperative systems. For an autonomous robot to be able to play soccer, first it has to perceive the surrounding world and extract only the relevant information in the game context. Therefore, the vision system of a robotic so...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Ocean Engineering
سال: 2018
ISSN: 0029-8018
DOI: 10.1016/j.oceaneng.2017.12.007