The Design and Control of Squid-Like Underwater Robot

doi:10.11871/jfdc.issn.2096-742X.2019.02.005

Frontiers of Data and Computing ›› 2019, Vol. 1 ›› Issue (2): 53-61.

doi: 10.11871/jfdc.issn.2096-742X.2019.02.005

Special Issue: “人工智能”专刊

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The Design and Control of Squid-Like Underwater Robot

Zhang Tiandong^1,²,Wang Rui^1,^*(),Wang Shuo^1,^2,³

1. The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
2. University of Chinese Academy of Sciences, Beijing 100049, China
3. Center for Excellence in Brain Science and Intelligence Technology, Chinese Academy of Sciences, Shanghai 200031, China

Received:2019-09-18 Online:2019-12-20 Published:2020-01-15
Contact: Wang Rui E-mail:rwang5212@ia.ac.cn

Abstract

Abstract:

[Objective] Different from traditional underwater vehicles, the squid-like underwater robot has the advantages of low noise and good maneuverability. In this paper, the system design of the squid-like underwater robot was studied, including the mechanical structure design and drive system design. [Methods] The dynamic model of the squid-like underwater robot, the kinematic model of the undulating fins and the mapping model from propulsive force/torque to traveling wave parameter were established. [Results] The prototype of the squid-like underwater robot was developed. Then, multiple motion patterns such as marching, receding, turning, submerging and surfacing were achieved and tested. Besides, depth control experiment was performed. [Conclusion] Experimental results show that the squid-like underwater robot propelled by undulatory fins has good mobility.

Key words: biomimetics, squid-like underwater robot, system design, motion control

Zhang Tiandong,Wang Rui,Wang Shuo. The Design and Control of Squid-Like Underwater Robot[J]. Frontiers of Data and Computing, 2019, 1(2): 53-61.

Figures/Tables 13

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参数	值	参数	值
长度	1230 mm	传感器	压力传感器、双目视觉系统
宽度	970 mm	驱动模式	直流电机、数字舵机
高度	390 mm	电源	7.4 V、22.2 V锂电池
质量	约52 kg	续航时间	约3 h（实验室测试）

The Design and Control of Squid-Like Underwater Robot

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