Of Corals and Web Portals: Towards a Digital Representation of Risk for the Cold-Water Corals in the Oil and Gas Sector
Conference object, Journal article, Peer reviewed
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Original versionRossitto, Chiara; Ciolfi, Luigina; Martin, David; Conein, Bernard [Eds.] COOP 2014 - Proceedings of the 11th International Conference on the Design of Cooperative Systems, Nice, France 27-30 May, 2014 p. 103-119, Springer, 2014 10.1007/978-3-319-06498-7_7
Increasing efficiency by improving the locomotion methods is a key issue for underwater robots. Hence, an accurate dynamic model is important for both controller design and efficient locomotion methods. This paper presents a model of the kinematics and dynamics of a planar, underwater snake robot aimed at control design. Fluid contact forces and torques are modeled using analytical fluid dynamics. The model is derived in a closed form and can be utilized in modern model-based control schemes. The proposed model is easily implemented and simulated, regardless of the number of robot links. Simulation results with a ten link robotic system are presented.