This paper is devoted to the exploration of three-dimensional (3-D) maneuvers using a free-swimming fishlike robot. For the sake of a better maneuverability, an Esox lucius robotic fish consisting of a yawing head, two degrees of freedom pectoral mechanism and multilink body joints together with a caudal fin is developed. With full consideration of both mechanical configuration and propulsive p...

Kinematic models and motion control algorithms for a two-axle compliant frame mobile robot are examined. General kinematics describing the compliantly coupled nonholonomic kinematics are derived using velocity constraints that minimize traction forces and consider foreshortening of the frame. Given the complexity of these equations, steering ratio, a, is defined to describe the relative heading...

When designing control strategies for differentialdrive mobile robots, one standard tool is the consideration of a point at a fixed distance along a line orthogonal to the wheel axis instead of the full pose of the vehicle. This abstraction supports replacing the non-holonomic, three-state unicycle model with a much simpler two-state single-integrator model (i.e., a velocitycontrolled point). Y...

Micro-aerial vehicles (MAV) and their promising applications – such as undetected surveillance or exploration of environments with little space for land-based maneuvers – are a well-known topic in the field of aerial robotics. Inspired by high maneuverability and agile flight of insects, over the past two decades a significant amount of effort has been dedicated to research on flapping-wing MAV...

A mathematical model for predicting the maneuvering motion of a ship is constructed, using planing craft with dual waterjet propulsion as object study. This based on standard approach MMG (Maneuvering Modeling Group) and uses Runge–Kutta algorithm to solve differential equations. For simulation turning Z-shape motion, RANS equation first solved program STAR-CCM + then PMM hull simulated overlap...