A multi-body approach for 6dof modeling of biomimetic autonomous underwater vehicles with simulation and experimental results (original) (raw)

Abstract

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This paper presents a multi-body approach for six degree-of-freedom modeling of biomimetic autonomous underwater vehicles (BAUVs). The study introduces a general framework and simulation platform that utilizes impulse-based dynamics and quasi-steady aerodynamic approximations to model BAUVs with arbitrary designs. Validation against experimental data from live electric rays and the RayBot BAUV demonstrates the effectiveness of the proposed modeling technique and opens pathways for analyzing various swimming behaviors in future research.

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