Detailed Information

Cited 0 time in webofscience Cited 0 time in scopus
Metadata Downloads

Modeling for the Crabster leg with hydrodynamics force

Full metadata record
DC Field Value Language
dc.contributor.author강한구-
dc.contributor.author유승열-
dc.contributor.author심형원-
dc.contributor.author전봉환-
dc.date.accessioned2021-12-08T14:40:19Z-
dc.date.available2021-12-08T14:40:19Z-
dc.date.issued20151019-
dc.identifier.urihttps://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/4118-
dc.description.abstractThe 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.language영어-
dc.language.isoENG-
dc.titleModeling for the Crabster leg with hydrodynamics force-
dc.title.alternativeModeling for the Crabster leg with hydrodynamics force-
dc.typeConference-
dc.citation.titleOCEANS15 MTS/IEEE Washington-
dc.citation.volume1-
dc.citation.number1-
dc.citation.startPage1-
dc.citation.endPage5-
dc.citation.conferenceNameOCEANS15 MTS/IEEE Washington-
Files in This Item
There are no files associated with this item.
Appears in
Collections
친환경해양개발연구본부 > 친환경연료추진연구센터 > Conference Papers

qrcode

Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.

Related Researcher

Researcher Jun, Bong Huan photo

Jun, Bong Huan
해양공공디지털연구본부
Read more

Altmetrics

Total Views & Downloads

BROWSE