上海交通大学学报（英文版） ›› 2013, Vol. 18 ›› Issue (5): 598-605.doi: 10.1007/s12204-013-1433-y

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Motion of an Underwater Self-Reconfigurable Robot with Tree-Like Configurations

WU Chao (吴 超), WANG Xu-yang (王旭阳), ZHUANG Guang-jiao (庄广胶)，ZHAO Min (赵 敏), GE Tong* (葛 彤)   

  1. (State Key Laboratory of Ocean Engineering, Shanghai Jiaotong University, Shanghai 200240, China)
  • 出版日期:2013-10-31 发布日期:2013-12-05
  • 通讯作者: GE Tong(葛 彤) E-mail:tongge@sjtu.edu.cn

Motion of an Underwater Self-Reconfigurable Robot with Tree-Like Configurations

WU Chao (吴 超), WANG Xu-yang (王旭阳), ZHUANG Guang-jiao (庄广胶)，ZHAO Min (赵 敏), GE Tong* (葛 彤)   

  1. (State Key Laboratory of Ocean Engineering, Shanghai Jiaotong University, Shanghai 200240, China)
  • Online:2013-10-31 Published:2013-12-05
  • Contact: GE Tong(葛 彤) E-mail:tongge@sjtu.edu.cn

摘要： Underwater self-reconfigurable system (USS), an underwater self-reconfigurable robot consisting of two types of modules, can reform various configurations in real time. Compared with normal underwater robots, its diverse configurations bring forward good adaptability and more abundant gaits. For the tree-like configurations, we propose a technique for dynamic modeling and configuration description. The eel-like configuration and the octopus-like one are chosen as examples to verify the technique, and some gaits are designed. For the eel-like configuration with the serpentine gait, the technique gives the same simulation results as existing eel-like models. For other cases, simulation results are consistent well with what happens in nature.

关键词: self-reconfigurable robot, eel-like, octopus-like, serpentine

Abstract: Underwater self-reconfigurable system (USS), an underwater self-reconfigurable robot consisting of two types of modules, can reform various configurations in real time. Compared with normal underwater robots, its diverse configurations bring forward good adaptability and more abundant gaits. For the tree-like configurations, we propose a technique for dynamic modeling and configuration description. The eel-like configuration and the octopus-like one are chosen as examples to verify the technique, and some gaits are designed. For the eel-like configuration with the serpentine gait, the technique gives the same simulation results as existing eel-like models. For other cases, simulation results are consistent well with what happens in nature.

Key words: self-reconfigurable robot, eel-like, octopus-like, serpentine

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