Development of Multibody Marine Robots: A Review | |
Kang S(康帅)1,2,3; Yu JC(俞建成)1,2; Zhang J(张进)1,2; Jin QL(金乾隆)1,2,3 | |
刊名 | IEEE Access |
2020 | |
卷号 | 8页码:21178-21195 |
关键词 | Multibody marine robot underwater vehicle hydrodynamic characteristic topology connection structure |
ISSN号 | 2169-3536 |
产权排序 | 1 |
英文摘要 | Multibody marine robots, representing a promising research and development area, have gained acute attention and response from civil and military fields. A multibody marine robot is a multibody system composed of multiple single-body marine robots (defined as a unit) in a certain topology. Such a system is generally characterized by underactuation, hyperredundancy, power distribution, modularization and so on. Compared with traditional single-body marine robots, multibody marine robots can carry greater loads and have more forms of motion, so they can meet more specialized functional requirements. At the same time, they also have more complex hydrodynamic characteristics due to their unique structures and motion forms. In this paper, the types, features, and hydrodynamic characteristics of typical multibody marine robots are reviewed and summarized based on the connection structures between units. In addition, the development trends of multibody marine robots are analyzed and discussed. This review work anticipates positive attention from future readers regarding multibody marine robots, which represent an important subarea of marine robots. |
资助项目 | National Natural Science Foundation of China[U1709202] ; State Key Laboratory of Robotics at Shenyang Institute of Automation[2019-Z13] ; National Key Research and Development Program of China[2016YFC0300801] ; Youth Innovation Promotion Association of China CAS[2016185] |
WOS关键词 | HYDRODYNAMIC INTERACTION ; WAVE GLIDER ; UNDERWATER ; AUV ; SIMULATION ; LOCOMOTION ; PROPULSION ; DYNAMICS ; IMPACT ; DRIVEN |
WOS研究方向 | Computer Science ; Engineering ; Telecommunications |
语种 | 英语 |
WOS记录号 | WOS:000525391900046 |
资助机构 | National Natural Science Foundation of China under Grant 51909257 ; State Key Laboratory of Robotics at Shenyang Institute of Automation under Grant 2019-Z13 ; National Natural Science Foundation of China under Grant U1709202 ; National Key Research and Development Program of China under Grant 2016YFC0300801 ; Youth Innovation Promotion Association of China CAS under Grant 2016185 |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/26364] |
专题 | 海洋机器人卓越创新中心 |
通讯作者 | Zhang J(张进) |
作者单位 | 1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.University of Chinese Academy of Sciences, Beijing 100049, China |
推荐引用方式 GB/T 7714 | Kang S,Yu JC,Zhang J,et al. Development of Multibody Marine Robots: A Review[J]. IEEE Access,2020,8:21178-21195. |
APA | Kang S,Yu JC,Zhang J,&Jin QL.(2020).Development of Multibody Marine Robots: A Review.IEEE Access,8,21178-21195. |
MLA | Kang S,et al."Development of Multibody Marine Robots: A Review".IEEE Access 8(2020):21178-21195. |
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