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Multi-functional bio-inspired leg for underwater robots

Authors
Kim, H.J.Jun, B.H.Lee, J.
Issue Date
2014
Publisher
Institute of Electrical and Electronics Engineers Inc.
Citation
IEEE International Conference on Intelligent Robots and Systems, pp 1087 - 1092
Pages
6
Journal Title
IEEE International Conference on Intelligent Robots and Systems
Start Page
1087
End Page
1092
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8686
DOI
10.1109/IROS.2014.6942693
ISSN
2153-0858
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. ? 2014 IEEE.
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