Experimental Verification of Open-loop Control for an Underwater Eel-like Robot  

Oleh:

McIsaac, Kenneth A. ; Ostrowski, James P.

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 21 no. 10-11 (Oct. 2002), page 849-859.
Topik: robotic locomotion; biomimetics; motion planning; experimental verification; vision-based control
Fulltext: 849.pdf (398.57KB)

Isi artikel

In this paper, we describe experimental work using an underwater, biomimetic, eel-like robot to verify a simplified dynamic model and open-loop control routines. We compare experimental results to previous analytically derived, but approximate expressions for proposed gaits for forward/backward swimming, circular swimming, sideways swimming and turning in place. We have developed a fivelink, underwater eel-like robot, focusing on modularity, reliability and rapid prototyping, to verify our theoretical predictions. Results from open-loop experiments performed with this robot in an aquatic environment using an off-line vision system for position sensing show good agreement with theory.

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