Of Corals and Web Portals: Towards a Digital Representation of Risk for the Cold-Water Corals in the Oil and Gas Sector

Increasing efficiency by improving the locomotion methods is a key issue for underwater robots. Hence, an accurate dynamic model is important for both controller design and efficient locomotion methods. This paper presents a model of the kinematics and dynamics of a planar, underwater snake robot aimed at control design. Fluid contact forces and torques are modeled using analytical fluid dynamics. The model is derived in a closed form and can be utilized in modern model-based control schemes. The proposed model is easily implemented and simulated, regardless of the number of robot links. Simulation results with a ten link robotic system are presented.(c) 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works