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Locomotion of bioinspired Underwater Snake robots Using Metaheuristic Algorithm

Computers, Materials & Continua 2022年第7期72卷 1293-1308页

作者： Souad Larabi-Marie-Sainte Taiseer Abdalla Elfadil Eisa Fahd N.Al-Wesabi Amani Abdulrahman Albraikan Manar Ahmed Hamza Abdelwahed Motwakel Ishfaq Yaseen Mesfer Al Duhayyim Department of Computer Science College of Computer and Information SciencesPrince Sultan UniversityRiyadh11586Saudi Arabia Department of Information Systems-Girls Section King Khalid UniversityMahayil62529Saudi Arabia Department of Computer Science College of Science&Art at MahayilKing Khalid University62529Saudi Arabia Faculty of Computer and IT Sana’a UniversitySana’a1247Yemen Department of Computer Science College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman University11564Saudi Arabia Department of Computer and Self Development Preparatory Year DeanshipPrince Sattam bin Abdulaziz University16278Saudi Arabia Department of Natural and Applied Sciences College of Community-AflajPrince Sattam bin Abdulaziz University16278Saudi Arabia

Snake robots(SR)have been successfully deployed and proved to attain bio-inspired solutions owing to its capability to move in harsh environments,a characteristic not found in other kinds of robots(like wheeled or legged robots).Underwater Snake robots(USR)establish a bioinspired solution in the domain of underwater *** is a key challenge to increase the motion efficiency in underwater robots,with respect to forwarding speed,by enhancing the locomotion *** the same time,energy efficiency is also considered as a crucial issue for long-term automation of the *** this aspect,the current research paper concentrates on the design of effectual Locomotion of bioinspired Underwater Snake robots using Metaheuristic Algorithm(LBIUSR-MA).The proposed LBIUSR-MA technique derives a bi-objective optimization problem to maximize the ForwardVelocity(FV)and minimize the Average Power Consumption(APC).LBIUSR-MA technique involves the design ofManta Ray Foraging Optimization(MRFO)technique and derives two objective functions to resolve the optimization *** addition to these,effective weighted sum technique is also used for the integration of two objective ***,the objective functions are required to be assessed for varying gait variables so as to inspect the performance of locomotion.A detailed set of simulation analyses was conducted and the experimental results demonstrate that the developed LBIUSR-MA method achieved a low Average Power Consumption(APC)value of 80.52W underδvalue of *** proposed model accomplished the minimum PAC and maximum FV of USR in an effective manner.

关键词： bio-inspired robots underwater snake robots locomotion efficiency forwarding velocity average power consumption objective function

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Development of Wheel-less Snake Robot with Two Distinct Gaits and Gait Transition Capability

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International Journal of Automation and computing 2013年第6期10卷 534-544页

作者： M.H.A.Majid M.R.Khan S.N.Sidek Department of Mechatronics Engineering International Islamic University Malaysia

Snake robots are mostly designed based on single mode locomotion. However, single mode gait most likely could not work effectively when the robot is subject to an unstructured working environment with different measures of terrain complexity. As a solution, mixed mode locomotion is proposed in this paper by synchronizing two types of gaits known as serpentine and wriggler gaits used for non-constricted and narrow space environments, respectively, but for straight line locomotion only. A gait transition algorithm is developed to efficiently change the gait from one to another. This study includes the investigation on kinematics analysis followed by dynamics analysis while considering related structural constraints for both gaits. The approach utilizes the speed of the serpentine gait for open area locomotion and exploits the narrow space access capability of the wriggler gait. Hence, it can increase motion flexibility in view of the fact that the robot is able to change its mode of locomotion according to the working environment.

关键词： bio-inspired robots robotics robot dynamics robot kinematics robotic mechanical systems.

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Mechanical Design and Preliminary Realization of Robotic Fish with Multiple Control Surfaces

Mechanical Design and Preliminary Realization of Robotic Fis...

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第二十九届中国控制会议

作者： WANG Weibing 1,YU Junzhi 2,WANG Ming 2,DING Rui 2 1.Machine and Electricity Engineering College,Shihezi University,Xinjiang Uygur Autonomous Region 832003,P.R.China 2.Lab of COMPSYS,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,P.R.China

This paper deals with the mechanical design and realization of a robotic fish inspired by well-integrated,configurable multiple control surfaces existing in natural *** against the underwater environment and multimodal motion requirements,the principle and mechanical design for artificial control surfaces involving tail plus caudal fin,pectoral s,pelvic fin and dorsal fin are *** preliminary construction and control issues are further outlined.P elimin ry test resul s verify the effectiveness of the proposed *** a well-assembled fishlike propulsive device,not only provides a repeatable test platform for investigating fish-inspired propulsive mechanisms,but also creates a promising high-performance swimming machine.

关键词： bio-inspired robots Robotic Fish Mechanical Design Multiple Control Surfaces Swimming Control

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