RIGHTING OF CHINESE MITTEN CRABS (ERIOCHEIR SINENSIS) AND THEIR MODELS
dc.contributor.author | Riphaus, Tobias | |
dc.contributor.author | Hoffmann, Florian | |
dc.contributor.author | Labisch, Susanna | |
dc.date.accessioned | 2023-01-18T14:44:22Z | |
dc.date.available | 2023-01-18T14:44:22Z | |
dc.date.issued | 2017 | |
dc.identifier.citation | Acta Polytechnica. 2017, vol. 7, no. 0, p. 53-57. | |
dc.identifier.issn | 1210-2709 (print) | |
dc.identifier.issn | 1805-2363 (online) | |
dc.identifier.uri | http://hdl.handle.net/10467/105890 | |
dc.description.abstract | The usage of unmanned underwater vehicles for marine tasks is continuously growing and bioinspired stabilizing systems shall help them to gain and keep a stable position during work. Therefore the righting maneuver of E. sinensis has been studied. These crabs are able to perform a 180°-rotation with an angular velocity of 4.30 s−1 when falling underwater from a supine starting position. High-speed particle image velocimetry has shown, that propulsive forces with a peak of 0.021 ± 0.001 N were produced by the hind legs to initiate and stop the rotation. In a numerical multibody simulation a constant force of 0.009 N acting for 0.2 s leads to the same rotation. In order to prove this mechanism, it was implemented into a robotic system. Its mean density of 1.15 g/cm3 deviates not more than 4% from the biological and numerical models. It can complete a 180°-turn within 1.03 ± 0.12 s with a rotational velocity of up to 4.25 s−1. | en |
dc.format.mimetype | application/pdf | |
dc.language.iso | eng | |
dc.publisher | České vysoké učení technické v Praze | cs |
dc.publisher | Czech Technical University in Prague | en |
dc.relation.ispartofseries | Acta Polytechnica | |
dc.relation.uri | https://ojs.cvut.cz/ojs/index.php/APP/article/view/3965 | |
dc.rights | Creative Commons Attribution 4.0 International License | en |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | |
dc.title | RIGHTING OF CHINESE MITTEN CRABS (ERIOCHEIR SINENSIS) AND THEIR MODELS | |
dc.type | article | en |
dc.date.updated | 2023-01-18T14:44:22Z | |
dc.identifier.doi | 10.14311/APP.2017.7.0053 | |
dc.rights.access | openAccess | |
dc.type.status | Peer-reviewed | |
dc.type.version | publishedVersion |
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