Title :
Multi-functional bio-inspired leg for underwater robots
Author :
Hee Joong Kim ; Bong Huan Jun ; Jihong Lee
Author_Institution :
Dept. of Mechatron. Eng., Chungnam Nat. Univ., Daejeon, South Korea
Abstract :
This paper mainly focused on proposing a multi-functional leg for a six-legged underwater robot inspired by diving beetles(D.BeeBot). In order to make the robot have abilities both walking and swimming, one of legs is designed in advance by adopting structural advantages that the diving beetle has for efficient swimming. Trajectories of the leg employ various biomimetic motions produced by SPG(swimming pattern generator), setting simple control parameters. Performances of the leg are verified by measuring drag force by a force/torque sensor through underwater experiments. In the paper, swimming mechanism is mainly concerned for this time. Consequently, we proved the validity of designing consideration for the multi-functional leg.
Keywords :
biomimetics; force sensors; legged locomotion; marine engineering; motion control; SPG; biomimetic motions; control parameters; diving beetles; drag force measurement; force sensor; multifunctional bio-inspired leg; six-legged underwater robot; swimming ability; swimming mechanism; swimming pattern generator; torque sensor; walking ability; Drag; Force; Hip; Joints; Legged locomotion; Robot sensing systems;
Conference_Titel :
Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
Conference_Location :
Chicago, IL
DOI :
10.1109/IROS.2014.6942693
