Simulation Platform for the Underwater Snake-Like Robot Swimming Based on Kane’s Dynamic Model and Central Pattern Generator

doi:10.1007/s12204-014-1502-x

上海交通大学学报（英文版） ›› 2014, Vol. 19 ›› Issue (3): 294-301.doi: 10.1007/s12204-014-1502-x

Simulation Platform for the Underwater Snake-Like Robot Swimming Based on Kane’s Dynamic Model and Central Pattern Generator

YANG Ke (杨柯), WANG Xu-yang* (王旭阳), GE Tong (葛彤), WU Chao (吴超)

(School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, China)

出版日期:2014-06-30 发布日期:2014-07-15
通讯作者: WANG Xu-yang(王旭阳) E-mail:wangxuyang@sjtu.edu.cn

Simulation Platform for the Underwater Snake-Like Robot Swimming Based on Kane’s Dynamic Model and Central Pattern Generator

YANG Ke (杨柯), WANG Xu-yang* (王旭阳), GE Tong (葛彤), WU Chao (吴超)

(School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, China)

Online:2014-06-30 Published:2014-07-15
Contact: WANG Xu-yang(王旭阳) E-mail:wangxuyang@sjtu.edu.cn

摘要/Abstract

摘要：

A systematic method for swimming control of the underwater snake-like robot is still lacking. We construct a simulation platform of the underwater snake-like robot swimming based on Kane’s dynamic model and central pattern generator (CPG). The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane’s approach. Hydrodynamic coefficients are determined by experiments. Then, we design a CPG-based control architecture implemented as the system of coupled nonlinear oscillators. The CPG, like its biological counterpart, can produce coordinated patterns of rhythmic activity while being modulated by simple control parameters. The relations between the CPG parameters and the speed of the underwater snake-like robot swimming are investigated. Swimming in a straight line, turning, and switching between swimming modes are implemented in our simulation platform to prove the feasibility of the proposed simulation platform. The results show that the simulation platform can imitate different swimming modes of the underwater snake-like robot.

关键词: underwater snake-like robot, Kane’s dynamic model, swimming, central pattern generator (CPG)

Abstract:

Key words: underwater snake-like robot, Kane’s dynamic model, swimming, central pattern generator (CPG)

中图分类号:

TP 242.6

YANG Ke (杨柯), WANG Xu-yang* (王旭阳), GE Tong (葛彤), WU Chao (吴超). Simulation Platform for the Underwater Snake-Like Robot Swimming Based on Kane’s Dynamic Model and Central Pattern Generator[J]. 上海交通大学学报（英文版）, 2014, 19(3): 294-301.

YANG Ke (杨柯), WANG Xu-yang* (王旭阳), GE Tong (葛彤), WU Chao (吴超). Simulation Platform for the Underwater Snake-Like Robot Swimming Based on Kane’s Dynamic Model and Central Pattern Generator[J]. Journal of shanghai Jiaotong University (Science), 2014, 19(3): 294-301.

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Simulation Platform for the Underwater Snake-Like Robot Swimming Based on Kane’s Dynamic Model and Central Pattern Generator

Simulation Platform for the Underwater Snake-Like Robot Swimming Based on Kane’s Dynamic Model and Central Pattern Generator

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[1]	YANG Ke (杨柯), WANG Xu-yang* (王旭阳), GE Tong (葛彤), WU Chao (吴超). Dynamic Model of Underwater Snake-Like Robot Using Kane’s Method[J]. 上海交通大学学报（英文版）, 2014, 19(2): 146-154.
[2]	LI Jia-wang (李家旺), WU Chao (吴超), GE Tong* (葛彤). Central Pattern Generator Based Gait Control for Planar Quadruped Robots[J]. 上海交通大学学报（英文版）, 2014, 19(1): 1-10.