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A study on the swimming pattern of legged underwater robot

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Title A study on the swimming pattern of legged underwater robot
 
Creator Kim, Daehyun
Lee, Jihong
 
Subject Underwater Robot
Optimal swimming pattern
CFD (Computational Fluid Dynamics)
Biomimetics
 
Description 1006-1012
KIOST (Korea Institute of Ocean Science and
Technology) in Korea
has been developing an underwater robot, Crabster. This robot has been designed
to be able to walk and swim with legs without screws. However, it is difficult
to get fluid dynamics of joint-robots in the water. Therefore, we conducted
simulations with an optimization algorithm for swimming by considering
simplified fluid dynamics in this paper. Drag-coefficient to be applied to the
simulation war approximated values calculated by CFD (Computational Fluid
Dynamics: Tecplot 360, ANSYS). In addition, Optimized swimming patterns were
applied to a real robot. As a result, we estimated drag coefficient by
comparing drag force from simulation with optimized algorithm with drag force
from the experiment with a real robot. And we will verify the swimming pattern
from the optimized algorithm for swimming is most efficient through the
experiment.
 
Date 2014-01-10T11:57:26Z
2014-01-10T11:57:26Z
2013-12
 
Type Article
 
Identifier 0975-1033 (Online); 0379-5136 (Print)
http://hdl.handle.net/123456789/25475
 
Language en_US
 
Rights CC Attribution-Noncommercial-No Derivative Works 2.5 India
 
Publisher NISCAIR-CSIR, India
 
Source IJMS Vol.42(8) [December 2013]