Innovation in Underwater Robots: Biologically Inspired Swimming Snake Robots


Increasing potency by improving locomotion ways is a key issue for underwater robots. Moreover, a variety of various control style challenges must be solved to appreciate operational swimming robots for underwater tasks. This text proposes and experimentally validates a straightline-path-following controller for biologically impressed swimming snake robots. In specific, a line-of-sight (LOS) steerage law is presented, which is combined with a sinusoidal gait pattern and a directional controller that steers the robot toward and along the desired path. The performance of the path-following controller is investigated through experiments with a physical underwater snake robot for both lateral undulation and eel-like motion. Furthermore, fluid parameter identification is performed, and simulation results primarily based on the identified fluid coefficients are presented to get a back-to-back comparison with the motion of the physical robot during the experiments. The experimental results show that the proposed management strategy successfully steers the robot toward and along the desired path for each lateral undulation and eel-like motion patterns.

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