Encyclopedia of Robotics

Living Edition
| Editors: Marcelo H Ang, Oussama Khatib, Bruno Siciliano

Modeling of Underwater Snake Robots

  • Eleni Kelasidi
  • Kristin Y. PettersenEmail author
Living reference work entry
DOI: https://doi.org/10.1007/978-3-642-41610-1_50-1

Synonyms

Definition

A mathematical model of an underwater snake robot (USR) is used to simulate and control the motion of the robot. The resulting model of a USR is represented as ordinary differential equations, which are numerically integrated in order to obtain the position, orientation, and velocity of the USR as a function of time.

Overview

Unmanned underwater vehicles (UUVs) are increasingly used for mapping and monitoring of the seabed and for applications that require inspection and intervention operations in subsea structures. Different types of UUVs, such as work-class remotely operated underwater vehicles (ROVs), inspection-class ROVs, and autonomous underwater vehicles (AUVs), are now widely used for subsea inspection, maintenance, and repair (IMR) operations in the oil and gas industry, marine biology, archeology, and oceanography (Sverdrup-Thygeson et al., 2016a,b,c). Also, there exist recent...

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References

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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Department of Engineering CyberneticsNTNU Norwegian University of Science and TechnologyTrondheimNorway

Section editors and affiliations

  • Gianluca Antonelli
    • 1
  1. 1.University of Cassino and Southern LazioCassinoItaly