The motion pattern for underwater snake robots and the joint controller are presented in "Joint controller", followed by a description of the experimental setup in "Experimental setup".
In particular [46], presents preliminary results by investigating the power consumption of different motion patterns for underwater snake robots.
The derived relationship between the gait pattern parameters and the steady state velocity presented in Proposition 1 provides a useful tool for motion planning and parameter tuning of sinusoidal gait patterns for underwater snake robots.
These rules can be used to choose the parameters of the gait patterns for underwater snake robots to achieve energy efficient motion while reaching the fastest possible forward velocity.
Simulation and experimental results investigating the relationship between the parameters of the gait patterns and the forward velocity for different motion patterns for underwater snake robots were presented.
In particular, in [46], the relationships between the parameters of the gait patterns, the consumed energy, and the forward velocity for different motion patterns for underwater snake robots were investigated.
Comparison results were obtained for the average power consumption and the cost of transportation of underwater snake robots for different motion patterns.
In particular, the energy index [58] was used to compare the energy efficiency of underwater snake robots for different motion patterns.
In order to find out the distribution and migration patterns of pooled nitrobenzene underwater in different conditions, laboratory column experiments were designed to simulate stagnant water, flowing water and rainfall disturbance events.
On the river's surface, a vast field of broken ice, all white (ice slabs), dark brown (water), and light brown (ice slabs underwater), in a pattern of splendid randomness like winter camouflage, proceeded slowly oceanward.
