Title :
An electric ray inspired Biomimetic Autonomous Underwater Vehicle
Author :
Krishnamurthy, P. ; Khorrami, F. ; de Leeuw, J. ; Porter, M.E. ; Livingston, K. ; Long, J.H.
Author_Institution :
Dept. of Electr. & Comput. Eng., NYU, Brooklyn, NY, USA
fDate :
June 30 2010-July 2 2010
Abstract :
The development of a novel Biologically-inspired (or Biomimetic) Autonomous Underwater Vehicle (BAUV) inspired by the Pacific electric ray is addressed. The design and hardware implementation of experimental prototypes of the “RayBot” BAUV are described. Extensive observations of live electric rays provided key biological inspirations in the development of the BAUV. As part of the effort, a six degree-of-freedom impulse-based multi-body approach for modeling and simulation of BAUVs was also developed and validated through comparison with experimental data.
Keywords :
biomimetics; mobile robots; remotely operated vehicles; telerobotics; underwater vehicles; 6DOF impulse based multibody approach; Pacific electric ray; RayBot BAUV; biologically inspired autonomous underwater vehicle; electric ray inspired biomimetic autonomous underwater vehicle; hardware implementation; Biological control systems; Biological system modeling; Biomimetics; Design engineering; Evolution (biology); Hardware; Marine animals; Payloads; Prototypes; Underwater vehicles;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5530456
