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首页> 外文会议>Conference on sensor fusion and decentralized control in robotic system >Development of a biomimetic underwater ambulatory robot: advantages of matching biomimetic control architecture with biomimetic actuators
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Development of a biomimetic underwater ambulatory robot: advantages of matching biomimetic control architecture with biomimetic actuators

机译：仿生水下步行机器人的开发：将仿生控制架构与仿生执行器相匹配的优势

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The American Lobster Homarus americanus is a highly mobile marine decapod, ubiquitous to the benthic environment of the eastern North Atlantic. Lobsters occupy a range of subtidal haditats on the continental shelf, and are capable of navigating through spatially complex boulder fields, as well as coping with variable water currents. Given these competencies, we have adopted the lobster as a design model for a biomimetic autonomous underwater vehicle intended for operation in similar environments. A central motor pattern generator model was developed from electromyographic data from lobsters, and is being implemented on an eight-legged ambulatory vehicle. The vehicle uses Nitinol shape-memory alloy wires is produced by heating them with an electrical current. This produces a change in the crystalline structure of the material from a martensire to an austenite state, resulting in a 5
机译：美洲龙虾Homarus americanus是高度活动的海洋十足动物，在北大西洋东部的底栖环境中无处不在。龙虾在大陆架上占据了一定范围的潮下带haditats，并且能够在空间复杂的巨石场中航行，并能应对各种水流。鉴于这些能力，我们已将龙虾作为拟在类似环境下操作的仿生自动水下车的设计模型。根据龙虾的肌电数据开发了中央电机模式生成器模型，该模型正在八腿动态车辆上实施。该车辆使用镍钛诺形状记忆合金线，该合金线是通过用电流加热而制成的。这会导致材料的晶体结构从马氏体状态变为奥氏体状态，从而导致5

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