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General information |
| Author |
Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
This paper focuses on the modelling and
control problems of a self‐propelled, multimodal
amphibious robot. Inspired by the undulatory body
motions of fish and dolphins, the amphibious robot
propels itself underwater by oscillations of several
modular fish‐like propelling units coupled with a pair of
pectoral fins capable of non‐continuous 360 degree
rotation. In order to mimic fish‐like undulating
propulsion, a control architecture based on Central
Pattern Generator (CPG) is applied to the amphibious
robot for robust swimming gaits, including forward and
backward swimming and turning, etc. With the
simplification of the robot as a multi‐link serial
mechanism, a Lagrangian function is employed to
establish the hydrodynamic model for steady swimming.
The CPG motion control law is then imported into the
Lagrangian‐based dynamic model, where an associated
system of kinematics and dynamics is formed to solve
real‐time movements and, further, to guide the
exploration of the CPG parameters and steady
locomotion gaits. Finally, comparative results between
the simulations and experiments are provided to show
the effectiveness of the built control models. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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