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dc.contributor.authorKelasidi, Eleni
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2014-12-14T03:22:56Z
dc.date.accessioned2016-07-06T08:02:05Z
dc.date.available2014-12-14T03:22:56Z
dc.date.available2016-07-06T08:02:05Z
dc.date.issued2014
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems. Proceedings 2014:266-273nb_NO
dc.identifier.issn2153-0858
dc.identifier.urihttp://hdl.handle.net/11250/2395749
dc.description.abstractIncreasing efficiency by improving the locomotion methods is a key issue for underwater robots. Consequently, an accurate dynamic model is important for both controller design and for the development of efficient locomotion methods. This paper presents a model of the kinematics and dynamics of an underwater snake robot moving in a vertical plane in 3D. The fluid contact forces (hydrodynamic forces) and torques (fluid moments) are modeled using analytical fluid dynamics. Hydrodynamic forces and torques, i.e. linear and nonlinear drag forces, current effects, added mass and fluid torque effects, are considered. In addition, this modeling approach also takes into account the hydrostatic forces (gravitational forces and buoyancy). The model is given in a closed form and is thus in a form that is well-suited for modern model-based control schemes. The proposed model is easily implemented and simulated, regardless of the number of robot links. Simulation results for lateral undulation and eel-like motion with a ten link robotic system are presented.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.titleModeling of underwater snake robots moving in a vertical plane in 3Dnb_NO
dc.typeConference objectnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.date.updated2014-12-14T03:22:57Z
dc.source.pagenumber266 - 273nb_NO
dc.identifier.doi10.1109/IROS.2014.6942571
dc.identifier.cristin1135509
dc.description.localcode(c) 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.nb_NO


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