来自克里特教育技术学院的创客团队创造了一个由#Arduino#控制的潜水机器人，机器人由7.4伏的脂质体电池驱动，机器人上装有实时固件，包括两台测视图案信号发生器来追踪机器人的移动轨迹等。
A team from the Control Systems and Robotics Laboratory at the Technological Educational Institute of Crete has developed a bio-inspired, fin-propelled robot that can swim underwater. Each fin is comprised of three individually actuated fin rays, which are interconnected by an elastic membrane. An Arduino Mega (ATmega2560) at its core runs custom real-time firmware that implements two Central Pattern Generator (CPG) networks to produce the undulatory motion profile for the robot’s fins, through which propulsion is achieved. Each fin is comprised of three individually actuated fin rays, which are interconnected by an elastic membrane. An Arduino Mega (ATmega2560) at its core runs custom real-time firmware that implements two Central Pattern Generator (CPG) networks to produce the undulatory motion profile for the robot’s fins, through which propulsion is achieved.
The prototype, which is fully untethered and energetically autonomous, also integrates an IMU/AHRS for navigation purposes, a Bluetooth module for wireless communication and a camera to capture underwater video. This footage includes experiments conducted in a lab’s test tank to investigate closed loop motion control strategies, as well as clips from actual sea trials. The robot is powered by a 7.4V LiPo battery.
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