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.
WU Chao (吴 超), WANG Xu-yang (王旭阳), ZHUANG Guang-jiao (庄广胶)，ZHAO Min (赵 敏), GE Tong* (葛 彤)
. Motion of an Underwater Self-Reconfigurable Robot with Tree-Like Configurations[J]. Journal of Shanghai Jiaotong University(Science), 2013
, 18(5)
: 598
-605
.
DOI: 10.1007/s12204-013-1433-y
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