Design, Implementation and Control of an Amphibious Spherical Robot

We proposed and implemented a leg-vector water-jet actuated spherical robot and an underwater adaptive motion control system so that the proposed robot could perform exploration tasks in complex environments. Our aim was to improve the kinematic performance of spherical robots. We developed mechanic...

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Vydáno v:	Journal of bionics engineering Ročník 19; číslo 6; s. 1736 - 1757
Hlavní autoři:	Shi, Liwei, Zhang, Zhongyin, Li, Zhengyu, Guo, Shuxiang, Pan, Shaowu, Bao, Pengxiao, Duan, Lijie
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Singapore Springer Nature Singapore 01.11.2022
Témata:	Artificial Intelligence Biochemical Engineering Bioinformatics Biomaterials Biomedical Engineering and Bioengineering Biomedical Engineering/Biotechnology Engineering Research Article Generalized prediction control Bionic amphibious spherical robot Inertial measurement unit Forgetting factor least squares algorithm Quadruped gaits
ISSN:	1672-6529, 2543-2141
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