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

Previous Articles     Next Articles

The Design and Control of Squid-Like Underwater Robot

Zhang Tiandong1,2,Wang Rui1,*(),Wang Shuo1,2,3   

  1. 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:

[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