Description
This book is about the design and control of biomimetic underwater robots. It explains the six aspects of the underwater biomimetic vehicle- manipulator system in detail and provides practical examples. This book is the authors’ long-term exploration of the theoretical and technical issues in the development of the underwater biomimetic vehicle-manipulator system and is written based on more than 15 years of scientific research and practical experience. This book is a helpful reference for the researchers, engineers, master and Ph.D. students in the field of biomimetic underwater robots.
Table of Contents
Introduction.- Design of the underwater biomimetic vehicle-manipulator system.- Kinematic and dynamic model of undulating fin.- Motion control of underwater biomimetic vehicle.- Trajectory planning of underwater biomimetic vehicle.- Path tracking of underwater biomimetic vehicle.- Autonomous grasping control of the underwater biomimetic vehicle-manipulator system.
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