Development of a Real Time Simulator Based on the Analysis of 6-Degrees of Freedom Motion of a Biomimetic Robot with Two Undulating Side Fins

摘要

In this study, the motion of a squid-like underwater robot with two undulating side fins has been investigated through towing tank experiment and simulation of 6-DOF mathematical model in 3D space with the aim of developing a real time simulator. The comparison between simulation results and experimental results confirmed the accuracy of the simulation. The real time handling simulator was developed based on the mathematical model by using Open Dynamic Engine (ODE). It was confirmed that the robot in this simulator can move in the similar way as real robot’s motion by the same control.