Detailed Information

Cited 5 time in webofscience Cited 5 time in scopus
Metadata Downloads

Design of Walking and Swimming Algorithms for a Multi-legged Underwater Robot Crabster CR200

Full metadata record
DC Field Value Language
dc.contributor.authorYoo, Seong-yeol-
dc.contributor.authorShim, Hyungwon-
dc.contributor.authorJun, Bong-Huan-
dc.contributor.authorPark, Jin-Yeong-
dc.contributor.authorLee, Pan-Mook-
dc.date.accessioned2021-08-03T04:32:11Z-
dc.date.available2021-08-03T04:32:11Z-
dc.date.issued2016-09-
dc.identifier.issn0025-3324-
dc.identifier.issn1948-1209-
dc.identifier.urihttps://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/657-
dc.description.abstractIn this paper, we describe a design method for the static walking swimming algorithms of a subsea hexapod robot called Crabster (CR200). CR200 is a 200-m-class seabed walking and flying that is specialized in environments with high current and turbid water. To design the:algorithms of a hexapod robot, we propose a design method that uses a schedule vector and a paired leg index vector to secure convenience and expandability. By changing the 6 combination of the indexed schedule vector, we can design the locomotion algorithms for the walking and swimming functions of CR200. We use common parameters to simplify the algorithms and to facilitate ease of transition between algorithms. Using the index vector design Method, walking and swimming algorithms are designed that can be applied to CR200 according to the underwater environment and explorative Condition In this paper, we,designed six types of gait algorithms and four types of swimming algorithms. The algorithms designed, using the; proposed method are simulated using MATLAB and validated through the experiments.-
dc.format.extent14-
dc.language영어-
dc.language.isoENG-
dc.publisherMARINE TECHNOLOGY SOC INC-
dc.titleDesign of Walking and Swimming Algorithms for a Multi-legged Underwater Robot Crabster CR200-
dc.typeArticle-
dc.publisher.location미국-
dc.identifier.doi10.4031/MTSJ.50.5.8-
dc.identifier.scopusid2-s2.0-84992488207-
dc.identifier.wosid000386543100008-
dc.identifier.bibliographicCitationMARINE TECHNOLOGY SOCIETY JOURNAL, v.50, no.5, pp 74 - 87-
dc.citation.titleMARINE TECHNOLOGY SOCIETY JOURNAL-
dc.citation.volume50-
dc.citation.number5-
dc.citation.startPage74-
dc.citation.endPage87-
dc.type.docTypeArticle-
dc.description.isOpenAccessN-
dc.description.journalRegisteredClassscie-
dc.description.journalRegisteredClassscopus-
dc.relation.journalResearchAreaEngineering-
dc.relation.journalResearchAreaOceanography-
dc.relation.journalWebOfScienceCategoryEngineering, Ocean-
dc.relation.journalWebOfScienceCategoryOceanography-
dc.subject.keywordAuthorhexapod robot-
dc.subject.keywordAuthorunderwater robot-
dc.subject.keywordAuthorwalking gait algorithm-
dc.subject.keywordAuthorswimming algorithm-
Files in This Item
There are no files associated with this item.
Appears in
Collections
친환경해양개발연구본부 > 친환경연료추진연구센터 > Journal Articles

qrcode

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

Related Researcher

Researcher Lee, Pan-Mook photo

Lee, Pan-Mook
해양공공디지털연구본부
Read more

Altmetrics

Total Views & Downloads

BROWSE