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Simulation platform for the underwater snake-like robot swimming based on Kane’s dynamic model and central pattern generator

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Abstract

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.

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Authors and Affiliations

  1. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai, 200240, China

    Ke Yang  (杨 柯), Xu-yang Wang  (王旭阳), Tong Ge  (葛 彤) & Chao Wu  (吴 超)

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  1. Ke Yang  (杨 柯)
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  2. Xu-yang Wang  (王旭阳)
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  3. Tong Ge  (葛 彤)
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  4. Chao Wu  (吴 超)
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Corresponding author

Correspondence to Xu-yang Wang  (王旭阳).

Additional information

Foundation item: the National Natural Science Foundation of China (No. 51009091) and the Special Research Fund for the Doctoral Program of Higher Education of China (No. 20100073120016)

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Yang, K., Wang, Xy., Ge, T. et al. Simulation platform for the underwater snake-like robot swimming based on Kane’s dynamic model and central pattern generator. J. Shanghai Jiaotong Univ. (Sci.) 19, 294–301 (2014). https://doi.org/10.1007/s12204-014-1502-x

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  • DOI: https://doi.org/10.1007/s12204-014-1502-x

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