• 로봇학회논문지
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• 제12권2호
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• pp.228-238
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• 2017

The CALEB10 is a multi-legged biomimetic underwater robot. In the last research, we developed a swimming pattern named ESPG (Extended Swimming Pattern Generator) by observing diving beetle's swimming actions and experimented with a positive buoyancy state in which CALEB10 floats on the water. In this paper, however, we have experimented with CALEB10 in a neutral buoyancy state where it is completely immersed in water for pitch motion control experiment. And we found that CALEB10 was unstably swimming in the pitch direction in the neutral buoyancy state and analyzed that the reason was due to the weight proportion of the legs. In this paper, we propose a pitch motion control method to mimic the pitch motion of diving beetles and to solve the problem of CALEB10 unstably swimming in the pitch direction. To control the pitch motion, we use the method of controlling additional joints while swimming with the ESPG. The method of obtaining propulsive force by the motion of the leg has a problem of giving propulsive force in the reverse direction when swimming in the surge direction, but this new control method has an advantage that a propulsive moment generated by a swimming action only on a target pitch value. To demonstrate validity this new control method, we designed a dynamics-based simulator environment. And the control performance to the target pitch value was verified through simulation and underwater experiments.

• International Journal of Fluid Machinery and Systems
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• 제4권3호
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• pp.341-348
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• 2011

The study of bacterial flagellar swimming motion remains an interesting and challenging research subject in the fields of hydrodynamics and bio-locomotion. This swimming motion is characterized by very low Reynolds numbers, which is unique and time reversible. In particular, the effect of rotation of helical flagella of bacterium on swimming motion requires detailed multi-disciplinary analysis. Clear understanding of such swimming motion will not only be beneficial for biologists but also to engineers interested in developing nanorobots mimicking bacterial swimming. In this paper, computational fluid dynamics (CFD) simulation of a three dimensional single flagellated bacteria has been developed and the fluid flow around the flagellum is investigated. CFD-based modeling studies were conducted to find the variables that affect the forward thrust experienced by the swimming bacterium. It is found that the propulsive force increases with increase in rotational velocity of flagellum and viscosity of surrounding fluid. It is also deduced from the study that the forward force depends on the geometry of helical flagella (directly proportional to square of the helical radius and inversely proportional to pitch).

• 한국운동역학회지
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• 제18권1호
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• pp.97-105
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• 2008

수영과 핀수영의 스타트 동작의 운동학적 변인들을 3차원 영상분석법으로 비교분석하였다. 수영 스타트에서는 상지는 후상방으로 몸통은 전상방으로 이동했다가 전하방으로 하강하는 양상을 보인 반면 핀수영 스타트에서는 모든 분절이 전하방으로 이동하는 양상을 보였다. 수영 스타트에서 신체중심은 멀리 전방으로 수평 이동하다가 하방으로 급격히 이동하는 반면 핀수영 스타트에서의 중심은 짧은 시간에 전하방으로 가깝게 이동하는 것으로 나타났다. 입수 시 수영의 중심은 수직 속도가 핀수영의 중심은 수평속도가 높게 나타났다. 수영과 핀수영 모두 상지의 속도가 하지보다 더 신체중심의 속도에 영향을 미치는 것으로 나타났다. 핀수영 스타트에서 고관절은 점프 전에 굴곡을 하는 반면 수영에서는 점프 후 공중에서 2번 굴곡을 하는 것으로 나타났다. 핀수영의 슬관절 굴곡 신전운동이 수영보다 더 급격한 것으로 나타났다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1580-1586
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• 2003

This paper presents the design and the analysis of a "fish-like underwater robot". In order to develop swimming robot like a real fish, extensive hydrodynamic analysis were made followed by the study of biology of the fishes especially its maneuverability and propel styles. Swimming mode is achieved by mimicking fish-swimming of carangiform. This is the swimming mode of the fast motion using its tail and peduncle for propulsion. In order to generate configurations of vortices that gives efficient propulsion yawing and surging with a caudal fin has applied and in order to submerge and maintain the body balance pitching and heaving motion with a pair of pectoral fin is used. We have derived the equation of motion of PoTuna by two methods. In first method, we use the equation of motion of underwater vehicle with the potential flow theory for the power of propulsion. In second method, we apply the method of the equation of motion of UVM(Underwater Vehicle-Manipulator). Then, we compare these results.

• 로봇학회논문지
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• 제7권4호
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• pp.259-266
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• 2012

In these days, researches about underwater robots have been actively in progress for the purposes of ocean detection and resource exploration. Unlike general underwater robots such as ROV(Remotely Operated Vehicle) and AUV(Autonomous Underwater Vehicle) which have propellers, an articulated underwater robot which is called Crabster has been being developed in KORDI(Korea Ocean Research & Development Institute) with many cooperation organizations since 2010. The robot is expected to be able to walk and swim under the sea with its legs. Among many researching fields of this project, we are focusing on a swimming section. In order to find effective swimming locomotion for the robot, we approached this subject in terms of Biomimetics. As a model of optimized swimming organism in nature, diving beetles were chosen. In the paper, swimming motions of diving beetles were analyzed in viewpoint of robotics for applying them into the swimming motion of the robot. After modeling the kinematics of diving beetle through robotics engineering technique, we obtained swimming patterns of the one of living diving beetles, and then compared them with calculated optimal swimming patterns of a robot leg. As the first trial to compare the locomotion data of legs of the diving beetle with a robot leg, we have sorted two representative swimming patterns such as forwarding and turning. Experimental environment has been set up to get the motion data of diving beetles. The experimental equipment consists of a transparent aquarium and a high speed camera. Various swimming motions of diving beetles were recorded with the camera. After classifying swimming patterns of the diving beetle, we can get angular data of each joint on hind legs by image processing software, Image J. The data were applied to an optimized algorithm for swimming of a robot leg which was designed by robotics engineering technique. Through this procedure, simulated results which show trajectories of a robot leg were compared with trajectories of a leg of a diving beetle in desired directions. As a result, we confirmed considerable similarity in the result of trajectory and joint angles comparison.

• 한국운동역학회지
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• 제17권3호
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• pp.69-80
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• 2007

The purpose of this study was to investigate the difference of ground reaction forces of swimming athletes during their starting motion and to find out the most effective starting motions which were used in swimming athletes. The subjects were 9 male and 8 female high school swimming athletes who were athletic career over 7 years and used three starting motions in competition. The ground reaction forces were measured from each athletes performing three starting motion each of the open grap starting motion, closed grap starting motion and track starting motion. For the measurement, the force platform of AMTI company was utilized, and the analysis on measured ground reaction forces were used of Biosoft(Ver. 1.0). The items measured were stance time, Fz max deceleration force and Fz max deceleration force time, Fz mid stance force and Fz mid stance force time, Fz max acceleration force and Fz max acceleration force time, Torque maximum and Torque maximum time, Torque average, Excursion along Y axis of center of pressure of foot, Excursion along X axis of center of pressure of foot, Length of center of pressure of foot, Average velocity of center of pressure of foot. The data measured by the closed grap starting motion, open grap starting motion and track starting motion were analyzed by one-way repeated ANOVA. The results were as follows ; 1. The Fz max deceleration force time, Fz mid stance force, Fz max acceleration force, Torque maximum and Torque maximum time, Excursion along Y axis of center of pressure of foot, Average velocity of center of pressure of foot were significantly fast and large in the closed grap starting motion then open grap starting motion and track starting motion. 2. The Excursion along Y axis of center of pressure of foot was significantly long in the closed grap starting motion then open grap starting motion and track starting motion.

• 로봇학회논문지
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• 제11권4호
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• pp.285-292
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• 2016

For articulated swimming robots, there have been no researches about controlling the motion or trajectory following. A control method for articulated swimming robot is suggested by extending a previous algorithm, ESPG (Extended Swimming Pattern Generator). The control method focuses on the situation that continuous pre-determined swimming pattern is applied for long range travelling. In previous studies, there has not been a way to control the propulsive force when a swimming pattern created by ESPG was in progress. Hence, no control could be made unless the swimming pattern was completed even though an error occurred while the swimming pattern was in progress. In order to solve this problem, this study analyzes swimming patterns and suggests a method to control the propulsive force even while the swimming pattern was in progress. The angular velocity of each link is influenced and this eventually modifies the propulsive force. However, The angular velocity is changed, a number of problems can occur. In order to resolve this issue, phase compensation method and synchronization method were suggested. A simple controller was designed to confirm whether the suggested methods are able to control and a simulation has affirmed it. Moreover, it was applied to CALEB 10 (a biomimetic underwater articulated robot) and the result was verified.

• 한국군사과학기술학회지
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• 제12권6호
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• pp.796-807
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• 2009

The swimming abilities of aquatic-animals are of vital importance to their ecology. The relationship between outer shapes and the swimming ability has been focused just a few centuries ago by engineering community. Present paper surveys the recent studies of the aquatic-animals' swimming performance in the morphological point of view. Also an experimental study is performed in order to investigate the effect of the tail fin's shape on the propulsive performance. The result showed that the morphological study provided valuable data for exploring the secrets of the aquatic-animals' swimming performance.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.53-54
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• 2010

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 추계학술대회 논문집
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• pp.177-178
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• 2010