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Depth control of underwater robots is an indispensably function, especially when robots are stationary in water. A bionic bladder system was designed to control the depth of the robots in water. It was composed of a cylinder and a piston. The dynamic models of how the bionic bladder system controls underwater robots were established and based on which a dual-velocity control system was designed. The...
Heaving motion is an indispensably function for underwater robots. A bionic bladder system which can realize both heaving and pitching control was designed inspired by biologic fishpsilas bladder. It was mainly composed of a cylinder and a piston. The dynamic models of the bionic bladder system for heaving and pitching motion were established and based on which a dual-velocity control system was designed...
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