An Augmented Catenary Model for Underwater Tethered Robots
Martin Filliung, Juliette Drupt, Charly Peraud, Claire Dune, Nicolas Boizot, Andrew Comport, Cedric Anthierens, Vincent Hugel
Abstract
This paper examines the relevance of using catenary-based curves to model cables in underwater tethered robotic applications in order to take into account the influence of hydrodynamic damping. To this end, an augmented catenary-based model is introduced to deal with the dynamical effects of surge motion, sway motion or a combination of both on a cable. Experimental studies are carried out with eight cables of varying stiffness, weight and buoyancy. One end of the cable is fixed, while the other end is moved by the underwater robot. The obtained results help to determine which cables and which dynamics are compatible with a fair estimation of the cable shape through the proposed models.
BibTeX
@inproceedings{icra2024_anaugmentedcaten,
title = {An Augmented Catenary Model for Underwater Tethered Robots},
author = {Martin Filliung and Juliette Drupt and Charly Peraud and Claire Dune and Nicolas Boizot and Andrew Comport and Cedric Anthierens and Vincent Hugel},
booktitle = {ICRA 2024},
year = {2024}
}