Modeling for the Crabster leg with hydrodynamics force
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 강한구 | - |
dc.contributor.author | 유승열 | - |
dc.contributor.author | 심형원 | - |
dc.contributor.author | 전봉환 | - |
dc.date.accessioned | 2021-12-08T14:40:19Z | - |
dc.date.available | 2021-12-08T14:40:19Z | - |
dc.date.issued | 20151019 | - |
dc.identifier.uri | https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/4118 | - |
dc.description.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 are verified with walking pattern data of the Crabster.s 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 are verified with walking pattern data of the Crabster. | - |
dc.language | 영어 | - |
dc.language.iso | ENG | - |
dc.title | Modeling for the Crabster leg with hydrodynamics force | - |
dc.title.alternative | Modeling for the Crabster leg with hydrodynamics force | - |
dc.type | Conference | - |
dc.citation.title | OCEANS15 MTS/IEEE Washington | - |
dc.citation.volume | 1 | - |
dc.citation.number | 1 | - |
dc.citation.startPage | 1 | - |
dc.citation.endPage | 5 | - |
dc.citation.conferenceName | OCEANS15 MTS/IEEE Washington | - |
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