PMID- 36557429
OWN - NLM
STAT- PubMed-not-MEDLINE
LR  - 20221225
IS  - 2072-666X (Print)
IS  - 2072-666X (Electronic)
IS  - 2072-666X (Linking)
VI  - 13
IP  - 12
DP  - 2022 Dec 1
TI  - Dynamic Analysis and Path Planning of a Turtle-Inspired Amphibious Spherical 
      Robot.
LID - 10.3390/mi13122130 [doi]
LID - 2130
AB  - A dynamic path-planning algorithm based on a general constrained optimization 
      problem (GCOP) model and a sequential quadratic programming (SQP) method with 
      sensor input is proposed in this paper. In an unknown underwater space, the 
      turtle-inspired amphibious spherical robot (ASR) can realise the path-planning 
      control movement and achieve collision avoidance. Due to the special underwater 
      environments, thrusters and diamond parallel legs (DPLs) are installed in the 
      lower hemisphere to realise accurate motion control. A propulsion model for a 
      novel water-jet thruster based on experimental analysis and a modified 
      Denavit-Hartenberg (MDH) algorithm are developed for multiple degrees of freedom 
      (MDOF) to realize high-precision and high-speed motion control. Simulations and 
      experiments verify that the effectiveness of the GCOP and SQP algorithms can 
      realize reasonable path planning and make it possible to improve the flexibility 
      of underwater movement with a small estimation error.
FAU - Zheng, Liang
AU  - Zheng L
AUID- ORCID: 0000-0003-4518-9487
AD  - School of Electronic Information Science and Technology, Jilin Agricultural 
      Science and Technology University, Jilin 132101, China.
FAU - Tang, You
AU  - Tang Y
AD  - School of Electronic Information Science and Technology, Jilin Agricultural 
      Science and Technology University, Jilin 132101, China.
FAU - Guo, Shuxiang
AU  - Guo S
AD  - Key Laboratory of Convergence Medical Engineering and System and Healthcare 
      Technology, the Ministry of Industry Information Technology, School of Life 
      Science, Beijing Institute of Technology, Haidian District, Beijing 100081, 
      China.
FAU - Ma, Yuke
AU  - Ma Y
AD  - School of Artificial Intelligence, Changchun University of Science and 
      Technology, Changchun 130022, China.
FAU - Deng, Lijin
AU  - Deng L
AD  - School of Artificial Intelligence, Changchun University of Science and 
      Technology, Changchun 130022, China.
LA  - eng
GR  - No. [2021] 7004/Doctoral startup fund project (JiLin Agricultural Science and 
      Technology University)/
GR  - YDZJ202201ZYTS692/Science and Technology Development Plan Project of Jilin 
      Province/
GR  - JLNKU2015/Smart Agricultural Engineering Research Center of Jilin Province 
      Foundation/
GR  - JLXK20180319/Digital Agriculture key discipline of Jilin Province Foundation/
PT  - Journal Article
DEP - 20221201
PL  - Switzerland
TA  - Micromachines (Basel)
JT  - Micromachines
JID - 101640903
PMC - PMC9784272
OTO - NOTNLM
OT  - amphibious spherical robots
OT  - diamond parallel leg
OT  - path planning
OT  - thruster evaluation
OT  - underwater motion
COIS- The authors declare that they have no known competing financial interests or 
      personal relationships that could have appeared to influence the work reported in 
      this paper.
EDAT- 2022/12/24 06:00
MHDA- 2022/12/24 06:01
PMCR- 2022/12/01
CRDT- 2022/12/23 01:46
PHST- 2022/10/24 00:00 [received]
PHST- 2022/11/23 00:00 [revised]
PHST- 2022/11/28 00:00 [accepted]
PHST- 2022/12/23 01:46 [entrez]
PHST- 2022/12/24 06:00 [pubmed]
PHST- 2022/12/24 06:01 [medline]
PHST- 2022/12/01 00:00 [pmc-release]
AID - mi13122130 [pii]
AID - micromachines-13-02130 [pii]
AID - 10.3390/mi13122130 [doi]
PST - epublish
SO  - Micromachines (Basel). 2022 Dec 1;13(12):2130. doi: 10.3390/mi13122130.