• DocumentCode
    3744675
  • Title

    Modeling for the Crabster leg with hydrodynamics force

  • Author

    Hangoo Kang;Seong-yeol Yoo;Hyungwon Shim;Bong-Huan Jun

  • Author_Institution
    Marine Robotics Lab, Ocean System Engineering Research Division, KRISO(Korea Research Institute of Ships & Ocean Engineering), 1312gil 32, Yuseongdaero, Yuseong-gu, Daejeon, 305-343, Rep. of Korea
  • fYear
    2015
  • Firstpage
    1
  • Lastpage
    5
  • Abstract
    The KRISO (Korea Research Institute of Ships & Ocean engineering) developed the Crabster which is an underwater walking robot with six legs in 2013. This robot is operated on the seabed with high tide and high turbidity environments which is unknown environments. This paper deals with modeling of the Crabster leg with hydrodynamics force for active control and feedback control. Joints of friction and buoyancy model are derived with experiments. Motor currents are used to the modeling process. Finally, the derived model is verified with walking pattern data of the Crabster.
  • Keywords
    "Mathematical model","Friction","Gravity","Current measurement","Legged locomotion","Data models"
  • Publisher
    ieee
  • Conference_Titel
    OCEANS´15 MTS/IEEE Washington
  • Type

    conf

  • Filename
    7404620
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3744675