Optimal turning gait for a three-link underwater robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Optimal turning gait for a three-link underwater robot
	Guo X(郭宪); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
	2015
会议名称	2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期	June 8-12, 2015
会议地点	Shenyang, China
页码	1321-1326
中文摘要	High maneuverable turning gait is essential to improve the locomotion ability for the three-link underwater robot. Using the traditional method, the optimal turning gait is a numerical solution. This paper proposes a geometric method to get the optimal turning gait which is the analytical solution. Generally, the zero-contour of the orientation angle for the 3-link underwater robot is the optimal gait [6]. However for the actual robot, the boundary constraints should also be considered. The curve fitting method is used to analyze the boundary constraints. Then the optimal sinusoidal gait is derived by using the analytical geometry and the optimal boundary gait is derived by using Fourier series. By calculation, the rotational angle with optimal sinusoidal gait and the optimal boundary gait increases 21.79% and 27.74% compared to the "C" gait [10]. The numerical simulation shows posture change with the optimal sinusoidal gait and with the optimal boundary gait over one period for the 3-link underwater robot.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	2379-7711
ISBN号	978-1-4799-8730-6
WOS记录号	WOS:000380502300242
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/17477]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Guo X,Ma SG,Li B,et al. Optimal turning gait for a three-link underwater robot[C]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015.