Dynamic Modeling and Hydrodynamic Performance of Biomimetic Underwater Robot Locomotion
Koray K. Safak and George G. Adams
Summary
We developed a dynamic model of a Nitinol artificial muscle activated
biomimetic robot. The robot was reverse engineered from the American
lobster and built in the Biomimetic Underwater Robot Program at
Northeastern University. It is intended for autonomous remote-sensing
operations in
shallow waters. An experimentally based Nitinol artificial muscle
model was integrated into the robot dynamic model. The hydrodynamic
characteristics of the robot were determined experimentally. The
muscle control signals were generated by utilizing a readily
available biomimetic control architecture. The effects of the timing
parameters were investigated. Simulations indicate that the developed
robot is able to locomote with high stability. It can walk against
constant currents and surge.
Journal Publications