Aquatic walking robot

水上行走机器人

• 批准号: 322410-2005
• 负责人: Jenkin, Michael
• 金额: $ 10.49万
• 依托单位: York University
• 依托单位国家: 加拿大
• 项目类别: Strategic Projects - Group
• 财政年份: 2007
• 资助国家: 加拿大
• 起止时间: 2007-01-01 至 2008-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=364899
• 关键词: Aquatic; walking; robot

The goal of this three-year project is to explore the science and technology of underwater robotics, with particular emphasis on the computational, information science and software infrastructure for underwater sensing, planning, and mobility control. While the underwater domain serves as out technological focus, it should be noted that it is a prototypical unstructured environment and shares many characteristics in common with other domains of interest. Specifically, within this project we propose to develop technology to support fully autonomous underwater vehicles that operate in and about shallow-water environments (under 100ft). This work leverages and exploits technologies and infrastructure developed in a prior IRIS NCE project entitled AQUA (see [Georgiades2004, Dudek2005]) in which prototype technologies for an underwater vehicle were developed and an ongoing T-GAP project AQUATAR that is developing a teleoperated version of the AQUA vehicle. While these efforts were highly successful, numerous longer term scientific issues remain to be resolved and these are the focus of the current proposal. In order to focus and unify the research that will take place within this project direct our research efforts to the development of a robotic vehicle that can perform surveillance underwater structures with a specific focus of underwater environmental assesment, but with many other potential applications as well.

这个为期三年的项目的目标是探索水下机器人的科学和技术，特别强调水下传感、规划和移动控制的计算、信息科学和软件基础设施。虽然水下领域是我们的技术重点，但应该指出，它是一个典型的非结构化环境，与其他感兴趣的领域有许多共同特点。具体地说，在这个项目中，我们建议开发技术来支持在浅水环境(100英尺以下)及其附近运行的完全自主的水下机器人。这项工作利用和利用了先前IRIS NCE项目中开发的技术和基础设施，该项目题为Aqua(见[Georgiades2004，Dudek2005])，其中开发了水下潜水器的原型技术，以及正在进行的T-GAP项目Aquator，该项目正在开发Aqua潜水器的远程操纵版。虽然这些努力非常成功，但许多较长期的科学问题仍有待解决，这些问题是当前提案的重点。为了集中和统一将在该项目中进行的研究，我们的研究努力指向开发一种机器人机器人，该机器人可以执行水下结构的监视，具有特定的水下环境评估重点，但也具有许多其他潜在的应用。