On Determining the Optimal Lifting Law of the Walking Propulsion Device Foot of an Underwater Robot from the Bottom  

作　　者：Eugene S.Briskin Yaroslav V.Kalinin Liliya D.Smirnaya 

机构地区：[1]Department of Theoretical Mechanics,Volgograd State Technical University,Lenin Avenue,28,Volgograd 400005,Russia [2]Center for Technology Components of Robotics and Mechatronics,Innopolis University,Universitetskaya Street,1,Innopolis 420500,Russia

出　　处：《Journal of Artificial Intelligence and Technology》2021年第4期214-218,共5页人工智能技术学报（英文）

摘　　要：The problem of lifting the foot of the walking propulsion device of an underwater mobile robot is considered,taking into account the additional"compression""force acting on it.A mathematical model has been developed for the detachment of a propulsion foot from the ground,based on Henry's laws establishing the concentration of dissolved air in a liquid,the law of gas expansion at a constant temperature,Darcy's law on fluid filtration,and the theorem on the motion of the center of mass of a solid body.The linearized model allows to obtain and analytical solutions.Based on the solution of the variat ional problem,optimal modes of lifting the foot of the walking propulsion of an underwater mobile robot are established.

关 键 词：walking propulsion device underwater walking robot pulling force the force of resistance to motion optimal control 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]