Multi-variable constrained control approach for a three-dimensional eel-like robot (original) (raw)
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Feedback design for 3D movement of an Eel-like robot
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007
This paper relates recent advances in the design of feedback laws for the 3D movement of an Eel-like robot. Such a robot is under construction in the context of a national French robotic project. The proposed feedback enables the tracking of a desired 3D position of the Eel head as well as the stabilization of the rolling angle. A velocity controller is also proposed. The controller is tested on a recently developed complete 3D model in order to assess its efficiency in tackling 3D manoeuvres.
Motion Control of a Three-Dimensional Eel-like Robot Without Pectoral Fins
IFAC Proceedings Volumes, 2008
In this paper, recent advances in the design of feedback laws for the 3D movement of an Eel-like robot are presented. Such a robot is under construction in the context of a national French robotic project. The proposed feedback enables the tracking of a desired 3D position of the Eel head as well as the stabilization of the rolling angle without using pectoral fins. We build on a previous work in which we proposed a complete control scheme for robot's 3D movement using its pectoral fins. The controller is tested on a recently developed complete 3D model in order to assess its efficiency in tackling 3D manoeuvres.
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2009
This paper presents a reduced mean model of a three-dimensional Eel-like robot. Such a robot is under construction in the context of a national French robotic project. This model is based on mechanical considerations as well as on our experience with an existing 3D continuous model of the target prototype. Identification and validation of the dynamic model are presented here.
Dynamic Modeling and Simulation of a 3-D Serial Eel-Like Robot
IEEE Transactions on Systems, Man and Cybernetics, Part C (Applications and Reviews), 2000
This paper presents * the dynamic modeling of a 3Dserial underwater eel-like robot using recursive algorithms based on the Newton-Euler equations. Both direct and inverse models are treated in the paper. The inverse dynamic model algorithm gives the head acceleration and the joint torques as a function of the joint positions, velocities and accelerations. The direct dynamic model gives the head and joint accelerations as a function of the joint positions, velocities and input torques. The proposed algorithms can be considered as generalization of the recursive Newton-Euler dynamic algorithms of serial manipulators with fixed base. The algorithms are easy to implement and to simulate whatever the number of degrees of freedom of the robot. An example with 12 spherical joints is presented. The fluid forces have been taken into account using a simple model based on Morison model [10],[12].
Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009, 2010
The aim of this project is to design, study and build an "eellike robot" prototype able to swim in three dimensions. The study is based on the analysis of eel swimming and results in the realization of a prototype with 12 vertebrae, a skin and a head with two fins. To reach these objectives, a multidisciplinary group of teams and laboratories has been formed in the framework of two French projects.
Macro-continuous computed torque algorithm for a three-dimensional eel-like robot
IEEE Transactions on Robotics, 2006
This paper presents the dynamic modeling of a continuous three-dimensional swimming eel-like robot. The modeling approach is based on the "geometrically exact beam theory" and on that of Newton-Euler, as it is well known within the robotics community. The proposed algorithm allows us to compute the robot's Galilean movement and the control torques as a function of the expected internal deformation of the eel's body.
Path following control for an eel-like robot
2005
We investigate the problem of controlling the motion of an eel like-robot. Recent work has shown promising results for this type of systems, opening new issues in the field of efficient propulsion and high manoeuvrability systems. The motion planning is decoupled in the two subproblems of thrust generation and heading control. In this paper we investigate a new type of autonomous gait generation, explicitly controlling the local system curvatures. The solution is then coupled with a path following controller, using the virtual target principle. The controller design is based on Lyapunov techniques. Simulations illustrate the performances of the proposed solution.
Swimming Eel Like Robot Sensing and Control Improvement
Universitat Politècnica de Catalunya, 2020
The master thesis "Swimming eel-like robot : Sensing and Control improvement" continues a project launched in 2017 with the objective to perform experimental tests with an eel-like robot and record experimental data in order to criticise simulations realised in the framework of a doctorate at the "Université Catholique de Louvain". This thesis focus on improving the control strategy applied to control the swimming movements of the robot in order to bring the ability of swimming following straight paths without deviating. Mainly, the control strategy is improved by simplifying the expression used to compute the control actions to be applied by the joint actuators of the robot and improving the sensing capabilities of the robotic system, obtaining more accurate and reliable measurements by means of adding sensors and reconciling the measurements using a cinematic model. Additionally, a model of the robotic system is derived in an analytical closed form, which makes it useful for implementing model-based controllers. Also it is derived an approach to online estimate hydrodynamic parameters in order to fit better the model derived to the different situations it can be used. Finally and due to the impossibility of performing experimental tests, the model derived is also used to perform numerical simulations which lead to verify the control strategy and the model derived.
Kinematic analysis of the vertebra of an eel like robot
Proceedings of the ASME Design Engineering Technical Conference, 2008
The kinematic analysis of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger French project, which aims to design and to build an eel like robot to imitate the eel swimming. To implement direct and inverse kinematics on the control law of the prototype, we need to evaluate the workspace without any collisions between the different bodies. The tilt and torsion parameters are used to represent the workspace.
Motion planning for dynamic eel-like robots
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
In this paper, 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 signi cant role in the generation of motion. In this paper, we build on previous work 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 a nominal path from an initial state to a goal state, and then develop feedback algorithms to perform trajectory tracking around this nominal path. We also address the central issues that arise when using cyclic gaits as the basis for control strategies.