Dynamic modeling and experiment of robot with fin

Bagus Yunanto; Mao Ichimura; Asami Amemiya; Naoyaki Takesue

doi:10.1299/jsmermd.2023.1P1-B17

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

Online ISSN : 2424-3124

2023

Session ID : 1P1-B17

DOI https://doi.org/10.1299/jsmermd.2023.1P1-B17

Conference information

Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 28, 2023 - July 01, 2023

Dynamic modeling and experiment of robot with fin

*Bagus Yunanto, Mao Ichimura, Asami Amemiya, Naoyaki Takesue

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Keywords: Underwater Robot, Fins, Hydrodynamics

CONFERENCE PROCEEDINGS RESTRICTED ACCESS

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Abstract

This paper presents a mathematical model of a robot with fin in an underwater environments. The model takes into account the hydrodynamic forces acting on the fin and the robot’s body. The robot with single fin and actuator is used for the experiments. The joint angle and the force acting on the actuator are measured to compare between simulation and experiment.

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