Dynamic modeling and hydrodynamic performance of biomimetric underwater robot locomotion

Autonomous Robots

Volumn 13, Issue 3, 2002, Pages 223-240

  Şafak, Koray K ^a   Adams, George G ^a  

^a NORTHEASTERN UNIVERSITY   (United States)

Author keywords

Biomimetic robot; Dynamic modeling; Hydrodynamics; Robot locomotion; Underwater robot

Indexed keywords

COMPUTER SIMULATION; HYDRODYNAMICS; MATHEMATICAL MODELS; MOTION CONTROL; REMOTE SENSING; REVERSE ENGINEERING; SYSTEM STABILITY;

BIOMIMETIC ROBOT; MUSCLE CONTROL SIGNALS; ROBOT LOCOMOTION; UNDERWATER ROBOT;

MOBILE ROBOTS;

EID: 0036854728     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1020516108579     Document Type: Article

References (11)

1. Ayers, J. and Crisman, J. 1992. The Lobster as a model for an omnidirectional robotic ambulation control architecture. In Biological Neural Networks in Invertebrate Neurotechnology and Robots, pp. 287-316.
2. Ayers, J., Witting, J., McGruer, N., Olcott, C., and Massa, D. 2000. In Proceedings of the International Symposium on Aqua Biomechanisms. T. Wu and N. Kato (Eds.).
3. Brinson, L. 1993, One-dimensional constitutive behavior of shape memory alloys: Thermomechanical derivation with non-constant material functions and redefined martensite internal variable. Journal of Intelligent Material Systems and Structures. 4, 229-242.
4. Ishvin, Y. and Pence, T.J. 1994. A constitutive model for hysteretic phase transition behavior. Int. J. Eng. Sci., 32:681-704.
5. Kennedy, D. and Davis, W.J. 1977. The nervous system. In Handbook of Physiology, Vol. 1: Cellular Biology of Neurons, Williams annd Watkins: Baltimore, pp. 1089-1135.
6. Liang, C. and Rogers, C.A. 1990. One-dimensional thermomechanical constitutive relations for shape memory materials. Journal of Intelligent Material Systems and Structures. 1,(2):207-234.
7. Lin, C.-C., Chen, R.-C., and Li, T.-L. 1999. Experimental determination of the hydrodynamic coefficients of an underwater manipulator. Journal of Robotic Systems. 16(6):329-338.
8. Safak, K.K. and Adams, G.G. 2002. Modeling and simulation of an artificial muscle and its application to biomimetic robot posture control. Robotics and Autonomous Systems, in press.
9. Stein, P.S.G. 1978. Motor systems, with specific reference to the control of locomotion. Ann. Rev. Neurosci., 1:61-81.
10. Tanaka, K. 1986. A thermomechanical sketch of shape memory effect: One dimensional tensile behavior. Res Mechanica, 18:251-263.
11. Wayman, C. and Duerig, T. 1990. An introduction to martensite and shape memory. In Engineering Aspects of Shape Memory Alloys, Butterworth-Heinemann Ltd.