{"title":"基于labriform模型的游泳机器人设计与实现","authors":"M. Rashid, A. Rashid","doi":"10.1109/AIC-MITCSA.2016.7759910","DOIUrl":null,"url":null,"abstract":"In this days, the field of designing swimming robot takes the interest of researchers due to its intervention in many applications that required diving processes. There are several modes of swimming mechanism like carangiform and labriform modes. In this paper, swimming robot has been designed and implemented based on labriform mode. The forward motion and control of robot direction in horizontal plane has been achieved by pectoral fins, while the swimming robot performs diving process by using center of gravity control system. Proposed swimming robot model has been graphically simulated by MATLAB, also this robot is implemented by KKmulticontroller V.5.5 development kit and several experiments have been performed in order to testing swimming robot.","PeriodicalId":315179,"journal":{"name":"2016 Al-Sadeq International Conference on Multidisciplinary in IT and Communication Science and Applications (AIC-MITCSA)","volume":"182 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Design and implementation of swimming robot based on labriform model\",\"authors\":\"M. Rashid, A. Rashid\",\"doi\":\"10.1109/AIC-MITCSA.2016.7759910\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this days, the field of designing swimming robot takes the interest of researchers due to its intervention in many applications that required diving processes. There are several modes of swimming mechanism like carangiform and labriform modes. In this paper, swimming robot has been designed and implemented based on labriform mode. The forward motion and control of robot direction in horizontal plane has been achieved by pectoral fins, while the swimming robot performs diving process by using center of gravity control system. Proposed swimming robot model has been graphically simulated by MATLAB, also this robot is implemented by KKmulticontroller V.5.5 development kit and several experiments have been performed in order to testing swimming robot.\",\"PeriodicalId\":315179,\"journal\":{\"name\":\"2016 Al-Sadeq International Conference on Multidisciplinary in IT and Communication Science and Applications (AIC-MITCSA)\",\"volume\":\"182 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-05-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 Al-Sadeq International Conference on Multidisciplinary in IT and Communication Science and Applications (AIC-MITCSA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/AIC-MITCSA.2016.7759910\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 Al-Sadeq International Conference on Multidisciplinary in IT and Communication Science and Applications (AIC-MITCSA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AIC-MITCSA.2016.7759910","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Design and implementation of swimming robot based on labriform model
In this days, the field of designing swimming robot takes the interest of researchers due to its intervention in many applications that required diving processes. There are several modes of swimming mechanism like carangiform and labriform modes. In this paper, swimming robot has been designed and implemented based on labriform mode. The forward motion and control of robot direction in horizontal plane has been achieved by pectoral fins, while the swimming robot performs diving process by using center of gravity control system. Proposed swimming robot model has been graphically simulated by MATLAB, also this robot is implemented by KKmulticontroller V.5.5 development kit and several experiments have been performed in order to testing swimming robot.
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