上海交通大学学报（英文版） ›› 2014, Vol. 19 ›› Issue (1): 35-40.doi: 10.1007/s12204-014-1474-x

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Research of Underwater Self-Reconfigurable System

WU Chao* (吴 超), GE Tong (葛 彤), ZHUANG Guang-jiao (庄广胶), LIU Jian-min (刘建民)   

  1. (State Key Laboratory of Ocean Engineering, Shanghai Jiaotong University, Shanghai 200240, China)
  • 出版日期:2014-01-15 发布日期:2014-01-15
  • 通讯作者: WU Chao (吴 超) E-mail: wuchaorr@sjtu.edu.cn

Research of Underwater Self-Reconfigurable System

WU Chao* (吴 超), GE Tong (葛 彤), ZHUANG Guang-jiao (庄广胶), LIU Jian-min (刘建民)   

  1. (State Key Laboratory of Ocean Engineering, Shanghai Jiaotong University, Shanghai 200240, China)
  • Online:2014-01-15 Published:2014-01-15
  • Contact: WU Chao (吴 超) E-mail: wuchaorr@sjtu.edu.cn

摘要： This article describes a novel underwater robot, which is called underwater self-reconfigurable system (USS). USS is studied and developed by Shanghai Jiao Tong University. It is formed by a quantity of the same modules and works in group. Based on that, USS can change its form while working in the complicated underwater structures according to different tasks. New multi-jaw underwater docking system, piston style regulator and clamshell-like sampling module are designed for USS, these developments address the problems of underwater docking, floating condition adjusting and sampling. Besides, the gaits like wriggle, creeping, swimming and fourlegged moving have been successfully implemented in tank and lake test, which verifies the validity of the concept.

关键词: self-reconfigurable robot, underwater docking, static stability, module, gait

Abstract: This article describes a novel underwater robot, which is called underwater self-reconfigurable system (USS). USS is studied and developed by Shanghai Jiao Tong University. It is formed by a quantity of the same modules and works in group. Based on that, USS can change its form while working in the complicated underwater structures according to different tasks. New multi-jaw underwater docking system, piston style regulator and clamshell-like sampling module are designed for USS, these developments address the problems of underwater docking, floating condition adjusting and sampling. Besides, the gaits like wriggle, creeping, swimming and fourlegged moving have been successfully implemented in tank and lake test, which verifies the validity of the concept.

Key words: self-reconfigurable robot, underwater docking, static stability, module, gait

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