Dynamic tail modeling and motion analysis of a beaver-like robot

Abstract

The beaver-like underwater robot can crawl and swim, playing a significant role in the exploration of amphibious environments. Its fan-shaped tail can provide part of the forward power and maintain its motion stability. However, no mature dynamic modeling method is available to model its tail motion until now. This paper presents a segmented dynamic modeling approach to build the propulsion and lift models of a beaver-like robot tail. It combines hydrodynamics and material mechanics and forms the fan-shaped flexible dynamics modeling theory. A performance index is created to measure the motion performance of the tail, which provides a theoretical basis for describing and evaluating the tail function. Simulations and experiments are conducted to verify the tail dynamic model and the motion performance under different swing amplitude coefficients. The obtained optimal swing amplitude coefficient is 2, which lays the foundation for robot motion control. The study could further promote the development of dynamic modeling and analysis for other underwater biomimetic robots.

Fuzzy Logic-Based Driving Decision for an Omnidirectional Mobile Robot Using a Simulink Dynamic Model

“…The tire friction model proposed by [25][26][27][28][29][30] will be adapted and incorporated into the dynamic model to accurately represent the resistive forces experienced by the platform during motion. This model will consider both static and dynamic friction, and friction coefficients.…”

“…The kinematics for mobile robots with four-wheel drive will be used to develop the dynamic equations of motion for the mobile platform [22][23][24][25]. Furthermore, the model will account for the slip of the platform's tires from [26][27][28][29][30], which is crucial for accurately predicting the behavior of the mobile platform. To validate the proposed dynamic model, experimental data will be collected by conducting physical experiments on a prototype of the mobile platform.…”

“…The development of accurate dynamic models for autonomous mobile platforms is essential for various applications, including robotics, automation, and transportation systems. These dynamic models allow for precise analysis and prediction of the resistive forces experienced by the mobile platform during motion [26][27][28][29][30].…”

“…The paper [30] aims to develop a theoretical framework for understanding fuzzy information granulation, which plays a central role in human reasoning and fuzzy logic. It explores how fuzzy sets and fuzzy logic can be used to model human cognitive processes and decision-making.…”