Autor:	Koray K. Şafak, George G. Adams
Rok vydání:	2002
Předmět:	Reverse engineering Artificial Intelligence Computer science Underwater robot Robot Artificial muscle computer.software_genre computer Simulation Robot locomotion System dynamics Robot dynamic
Zdroj:	Autonomous Robots. 13:223-240
ISSN:	0929-5593
DOI:	10.1023/a:1020516108579
Popis:	We developed a dynamic model of a Nitinol artificial muscle activated biomimetic robot. The robot was reverse engineered from the American lobster and built in the Biomimetic Underwater Robot Program at Northeastern University. It is intended for autonomous remote-sensing operations in shallow waters. An experimentally based Nitinol artificial muscle model was integrated into the robot dynamic model. The hydrodynamic characteristics of the robot were determined experimentally. The muscle control signals were generated by utilizing a readily available biomimetic control architecture. The effects of the timing parameters were investigated. Simulations indicate that the developed robot is able to locomote with high stability. It can walk against constant currents and surge.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::a087ed09298d8d129d749631183d8838 https://doi.org/10.1023/a:1020516108579 Zobrazit plný text záznamu Full text from SpringerLink