Research of underwater self-reconfigurable system |
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Authors: | Chao Wu Tong Ge Guang-jiao Zhuang Jian-min Liu |
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Affiliation: | 1. State Key Laboratory of Ocean Engineering, Shanghai Jiaotong University, Shanghai, 200240, China
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Abstract: | This article describes a novel underwater robot, which is called underwater self-reconfigurable system (USS). USS is studied and developed by Shanghai Jiao Tong University. It is formed by a quantity of the same modules and works in group. Based on that, USS can change its form while working in the complicated underwater structures according to different tasks. New multi-jaw underwater docking system, piston style regulator and clamshell-like sampling module are designed for USS, these developments address the problems of underwater docking, floating condition adjusting and sampling. Besides, the gaits like wriggle, creeping, swimming and four-legged moving have been successfully implemented in tank and lake test, which verifies the validity of the concept. |
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