In this paper, the kinematics and dynamics of an underwater quadruped walking robot were derived
based on Kane dynamic equations. This methodology allows construction of the dynamic model simply and
incrementally. The velocity and angular velocity components of an underwater quadruped walking robot were
served as the generalized velocities. The forces which contribute to dynamics of an underwater quadruped walking
robot were determined by Kane’s approach. The equations of hydrodynamic forces of an underwater quadruped
walking robot were deduced. Hydrodynamic coefficients were determined by experiments. The dynamic model was
established by obtaining the generalized active forces and the generalized inertia forces. Numerical simulations of
the walking behavior on underwater flat ground were implemented to verify the dynamic model of an underwater
quadruped walking robot. Simulation results show that the dynamic model is correct.
YANG Ke (杨 柯), WANG Xu-yang* (王旭阳), GE Tong (葛 彤), WU Chao (吴 超)
. A Dynamic Model of an Underwater Quadruped Walking Robot Using Kane’s Method[J]. Journal of Shanghai Jiaotong University(Science), 2014
, 19(2)
: 160
-168
.
DOI: 10.1007/s12204-014-1485-7
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