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Research on Structure Design and Drive Control of Soft Joint on Underwater Snake-Like Robot

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14269))

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Abstract

Compared with the snake-like underwater vehicle with steering gear, the snake-like underwater vehicle with soft joint connection is more flexible and compliant, and it also provides the possibility for the robot to contact with the environment. In this paper, a soft joint for underwater snake-like robot is innovatively proposed, and a test prototype of soft joint is developed. A soft joint attitude control strategy based on feedforward and feedback is proposed to realize high-precision pressure control of soft unit and underwater attitude control of soft joint. Based on the software and hardware control system of the developed soft joint, a test platform for soft joint control is established to verify the feasibility of the proposed soft joint and its attitude control algorithm.

This research was funded by the National Natural Science Foundation of China (NSFC) under Grant 52275053, in part by Fundamental Research Funds for the Central Universities under Grant 3132022352, and in part by the Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems under Grant GZKF-202112.

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Author information

Authors and Affiliations

  1. Naval Architecture and Ocean Engineering College, Dalian Maritime University, Dalian, 116026, China

    Yinglong Chen, Fei Gao & Shuangxi Yang

  2. Key Laboratory of Rescue and Salvage Engineering Liaoning Province, Dalian, 116026, China

    Yinglong Chen

Authors
  1. Yinglong Chen
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  2. Fei Gao
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  3. Shuangxi Yang
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Corresponding author

Correspondence to Yinglong Chen .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Chen, Y., Gao, F., Yang, S. (2023). Research on Structure Design and Drive Control of Soft Joint on Underwater Snake-Like Robot. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14269. Springer, Singapore. https://doi.org/10.1007/978-981-99-6489-5_24

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  • DOI: https://doi.org/10.1007/978-981-99-6489-5_24

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6488-8

  • Online ISBN: 978-981-99-6489-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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