Title :
Decreasing the energy costs of swimming robots through passive elastic elements
Author :
Harper, Karen A. ; Berkemeier, Matthew D. ; Grace, Sheryl
Author_Institution :
Dept. of Aerosp. & Mech. Eng., Boston Univ., MA, USA
Abstract :
This paper investigates the potential benefit of elastic energy storage in the propulsion of a swimming robot. A discussion of the hydrodynamic models of von Karman and Sears (1938) and Lighthill (1969, 1970) is presented and is followed by an analysis of the input power required for cases with and without elastic energy storage. It is concluded that the addition of linear springs to the system provides a means to reduce the energy required of the power supply. A transfer function for the system is also derived for purposes of controlling a swimming robot
Keywords :
hydrodynamics; marine systems; mobile robots; robot dynamics; transfer functions; elastic energy storage; energy costs; hydrodynamic models; passive elastic elements; swimming robots; transfer function; Control systems; Costs; Energy storage; Hydrodynamics; Power supplies; Power system modeling; Propulsion; Robot control; Springs; Transfer functions;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619055
