论文标题
使用低成本单运动模块化水生机器人的设计和实验
Design and Experiments with a Low-Cost Single-Motor Modular Aquatic Robot
论文作者
论文摘要
我们为一个由单个执行器提供动力的低成本机器人船提供了一种新颖的设计，可用于模块化和蜂群应用。该船使用角动量和被动拖鞋的保护，将单个电动机的运动转换为可调节的划桨运动，以进行推进和转向。我们制定了模块化和蜂群的设计标准，并提出了实施这些标准的原型。我们通过提出的设计确定了重要的机械敏感性，对敏感性的原因进行了理论化，并为将来的工作提供了改进的设计。
We present a novel design for a low-cost robotic boat powered by a single actuator, useful for both modular and swarming applications. The boat uses the conservation of angular momentum and passive flippers to convert the motion of a single motor into an adjustable paddling motion for propulsion and steering. We develop design criteria for modularity and swarming and present a prototype implementing these criteria. We identify significant mechanical sensitivities with the presented design, theorize about the cause of the sensitivities, and present an improved design for future work.
