Simulation and Control of an Underwater Hexapod Robot

[1]  Manoochehr Koochesfahani,et al.  A cancellation experiment in a forced turbulent shear layer , 1988 .

[2]  M. Triantafyllou,et al.  An Efficient Swimming Machine , 1995 .

[3]  Daniel E. Koditschek,et al.  Automated gait adaptation for legged robots , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[4]  J. Czarnowski,et al.  Exploring the possibility of placing traditional marine vessels under oscillating foil propulsion , 1997 .

[5]  Joel W. Burdick,et al.  Experiments in carangiform robotic fish locomotion , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[6]  M. Triantafyllou,et al.  Hydrodynamics of Fishlike Swimming , 2000 .

[7]  C. M. Dohring,et al.  Experimental and Computational Investigation of the Knoller-Betz Effect , 1998 .

[8]  Barnes W. McCormick,et al.  Aerodynamics, Aeronautics and Flight Mechanics , 1979 .

[9]  R. Ramamurti,et al.  Simulation of Flow About Flapping Airfoils Using Finite Element Incompressible Flow Solver , 2001 .

[10]  J. A. Sparenberg,et al.  On the Efficiency Increasing Interaction of Thrust Producing Lifting Surfaces , 1975 .

[11]  David S. Barrett,et al.  The optimal control of a flexible hull robotic undersea vehicle propelled by an oscillating foil , 1996, Proceedings of Symposium on Autonomous Underwater Vehicle Technology.

[12]  M. Triantafyllou,et al.  Oscillating foils of high propulsive efficiency , 1998, Journal of Fluid Mechanics.

[13]  Michael S. Triantafyllou,et al.  Active vorticity control in a shear flow using a flapping foil , 1994, Journal of Fluid Mechanics.

[14]  Richard M. Murray,et al.  Modelling efficient pisciform swimming for control , 2000 .

[15]  Daniel E. Koditschek,et al.  Back flips with a hexapedal robot , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[16]  Meyer Nahon,et al.  Dynamics modeling and performance evaluation of an autonomous underwater vehicle , 2004 .

[17]  T. Teichmann,et al.  Dynamics of Flight: Stability and Control , 1959 .

[18]  Martin Buehler,et al.  Preliminary Bounding Experiments in a Dynamic Hexapod , 2002, ISER.

[19]  Sheryl M. Grace,et al.  Modeling the dynamics of spring-driven oscillating-foil propulsion , 1998 .

[20]  B. Butler,et al.  The Theseus autonomous underwater vehicle. A Canadian success story , 1997, Oceans '97. MTS/IEEE Conference Proceedings.

[21]  Michael S. Triantafyllou,et al.  Efficient Foil Propulsion Through Vortex Control , 1996 .

[22]  Thor I. Fossen,et al.  Guidance and control of ocean vehicles , 1994 .

[23]  J. Gray.  Studies in Animal Locomotion: VI. The Propulsive Powers of the Dolphin , 1936 .

[24]  R. Blevins.  Applied Fluid Dynamics Handbook , 1984 .

[25]  Martin Buehler,et al.  Reliable stair climbing in the simple hexapod 'RHex' , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[26]  Martin Buehler,et al.  Towards a dynamic actuator model for a hexapod robot , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[27]  Brett Hobson,et al.  Integration of a hovering module with the Morpheus AUV: application to MCM missions , 2002, OCEANS '02 MTS/IEEE.

[28]  F.S. Hover,et al.  Design and projected performance of a flapping foil AUV , 2004, IEEE Journal of Oceanic Engineering.

[29]  Andrew Hogue,et al.  AQUA: an aquatic walking robot , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[30]  J. P. Brown,et al.  Toward an improved understanding of thruster dynamics for underwater vehicles , 1995, IEEE Journal of Oceanic Engineering.

[31]  F.S. Hover,et al.  Review of experimental work in biomimetic foils , 2004, IEEE Journal of Oceanic Engineering.

[32]  Martin Buehler,et al.  Towards pronking with a hexapod robot , 2001 .

[33]  S.N. Singh,et al.  Biorobotic AUV maneuvering by pectoral fins: inverse control design based on CFD parameterization , 2004, IEEE Journal of Oceanic Engineering.

[34]  Daniel E. Koditschek,et al.  RHex: A Simple and Highly Mobile Hexapod Robot , 2001, Int. J. Robotics Res..

[35]  N. Neville,et al.  Towards bipedal running of a six-legged robot , 2003 .