TY - GEN
T1 - Characteristics evaluation of the vertical motion of a spherical underwater robot
AU - Yue, Chunfeng
AU - Guo, Shuxiang
AU - Shi, Liwei
AU - Du, Juan
PY - 2012
Y1 - 2012
N2 - This paper evaluated the vertical movement characteristics of a spherical underwater robot. Firstly, the vectored water-jet propulsion system was employed to realize vertical motion. In order to facilitate the estimation of robot parameters, some simplification were proposed to estimate robot parameters based on its structure features. And then, the vertical control parameters had been calculated to achieve a high accuracy on vertical movements. In addition, the pressure sensor was used into the closed-loop control system. Finally, some experiments had been carried out to verify the result of parameter calculation and the performance of the proposed vertical control system.
AB - This paper evaluated the vertical movement characteristics of a spherical underwater robot. Firstly, the vectored water-jet propulsion system was employed to realize vertical motion. In order to facilitate the estimation of robot parameters, some simplification were proposed to estimate robot parameters based on its structure features. And then, the vertical control parameters had been calculated to achieve a high accuracy on vertical movements. In addition, the pressure sensor was used into the closed-loop control system. Finally, some experiments had been carried out to verify the result of parameter calculation and the performance of the proposed vertical control system.
KW - pressure sensor
KW - spherical underwater robot
KW - vectored water-jet thruster
KW - vertical motion
UR - https://www.scopus.com/pages/publications/84876501956
U2 - 10.1109/ROBIO.2012.6491059
DO - 10.1109/ROBIO.2012.6491059
M3 - Conference contribution
AN - SCOPUS:84876501956
SN - 9781467321273
T3 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
SP - 759
EP - 764
BT - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
T2 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
Y2 - 11 December 2012 through 14 December 2012
ER -