Experiments in closed-loop control for an underwater eel-like robot

被引：0
作者：
McIsaac, KA [1 ]
Ostrowski, JP [1 ]
机构：
[1] Univ Western Ontario, Dept Elect & Comp Engn, Elborn Coll, London, ON N6G 1H1, Canada
来源：
2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2002年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We investigate basic issues of motion planning for a class of dynamic mobile robots, focusing on eel-like swimming robots. A primary characteristic of this class of robots is that drift plays a significant role in the generation of motion. We provide a brief summary of our previous work in eel-like robotics, in which we explored generic gait patterns that could be used to drive an eel-like robot. We make an analogy with kinematic car-like robots to develop feedback algorithms to perform trajectory tracking about a nominal path. We use these control laws in closed-loop experiments with an underwater eel-like robot, using a vision based position sensing system to provide feedback.
引用
收藏
页码：750 / 755
页数：6
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