Articles | Volume 13, issue 2
https://doi.org/10.5194/ms-13-831-2022
https://doi.org/10.5194/ms-13-831-2022
Research article
 | 
10 Oct 2022
Research article |  | 10 Oct 2022

Dynamic modeling and experiment of hind leg swimming of beaver-like underwater robot

Gang Chen, Zhenyu Wang, Jiajun Tu, and Donghai Wang

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Short summary
In the research and development process of underwater motion control of the beaver-like robot, the hind leg and tail are the main actuators. In order to estimate the driving force of the robot autonomously during underwater movement, we propose this model, which can quickly and easily infer the force of the hind leg on the body. The correctness of this model is verified by experiments and simulations.