Motion Control of a Three-Dimensional Eel-like Robot Without Pectoral Fins
Résumé
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.
Domaines
Optimisation et contrôle [math.OC]| Origine | Fichiers produits par l'(les) auteur(s) |
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