Feedback design for 3D movement of an Eel-like robot

Alamir, Mazen; Rafei, Maher El; Hafidi, Ghizlane; Marchand, Nicolas; Porez, Mathieu; Boyer, Frédéric

doi:10.1109/robot.2007.363796

Cited by 15 publications

(18 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…First of all, in accordance with the true eels behavior, only the component K 3 of the deformation field was used in (Alamir et al [2007])(K 1 ≡ K 2 ≡ 0). Namely, at any time t, the body mean line entirely lies in the plane (0, t 10 (t), t 20 (t)) (see figure 5).…”

Section: Problem Feasibilitymentioning

confidence: 99%

“…Note that the velocity control and the control in the transverse plane are treated in our previous work (Alamir et al [2007]). The control in the transverse plan will be represented here.…”

Section: The Proposed Feedbackmentioning

confidence: 99%

“…The control in the transverse plan will be represented here. For more information about velocity control, the reader may refer to (Alamir et al [2007]). Note that (10)- (11)- (12) define a finite dimensioned parametrization of the control input leading to the control vector (α, β, u 1 , u 2 , u 3 ).…”

Section: The Proposed Feedbackmentioning

confidence: 99%

“…The solution proposed by Alamir et al [2007] uses the robot's pectoral fins to control the following variable :…”

Section: Controlling the Altitudementioning

confidence: 99%

“…Preliminary results on the 3D control of an eel-like robot are presented by Alamir et al [2007] where a complete control scheme for 3D movement of the continuous model (Boyer et al [2006]) was proposed. The motion and the velocity in the transverse plane are controlled by monitoring the oscillatory gait characteristics while the altitude changes and the rolling stabilization task are handled by means of two pectoral fins that are attached to the eel's head.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Motion Control of a Three-Dimensional Eel-like Robot Without Pectoral Fins

Rafei¹,

Alamir²,

Porez³

et al. 2008

IFAC Proceedings Volumes

Self Cite

View full text Add to dashboard Cite

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.

show abstract

Section: Problem Feasibilitymentioning

confidence: 99%

“…Note that the velocity control and the control in the transverse plane are treated in our previous work (Alamir et al [2007]). The control in the transverse plan will be represented here.…”

Section: The Proposed Feedbackmentioning

confidence: 99%

Section: The Proposed Feedbackmentioning

confidence: 99%

“…The solution proposed by Alamir et al [2007] uses the robot's pectoral fins to control the following variable :…”

Section: Controlling the Altitudementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Motion Control of a Three-Dimensional Eel-like Robot Without Pectoral Fins

Rafei¹,

Alamir²,

Porez³

et al. 2008

IFAC Proceedings Volumes

Self Cite

View full text Add to dashboard Cite

show abstract

Poincaré–Cosserat Equations for the Lighthill Three-dimensional Large Amplitude Elongated Body Theory: Application to Robotics

2009

View full text Add to dashboard Cite

In this article, we propose a dynamic model of the three-dimensional eel swim. This model is analytical and suited to the on-line control of eel-like robots. The proposed solution is based on the Large Amplitude Elongated Body Theory of Lighthill and a working frame recently proposed in [1] for the dynamic modeling of hyper-redundant robots. This working frame was named "macro-continuous" since at this macroscopic scale, the robot (or the animal) is considered as a Cosserat beam internally (and continuously) actuated. This article proposes new results in two directions. Firstly, it achieves an extension of the Lighthill theory to the case of a self propelled body swimming in three dimensions, while including a model of the internal control torque. Secondly, this generalization of the Lighthill model is achieved due to a new set of equations which is also derived in this article. These equations generalize the Poincaré equations of a Cosserat beam to the case of an open system containing a uid stratied around the slender beam.

show abstract

Experimental investigation of locomotion efficiency and path-following for underwater snake robots with and without a caudal fin

Kelasidi¹,

Kohl²,

Pettersen³

et al. 2018

Annual Reviews in Control

View full text Add to dashboard Cite

Over the last few decades, the robotics community has shown increasing interest in developing bioinspired swimming robots, driven by the need for more economical, more efficient, autonomous, highly flexible and maneuverable robotic systems for underwater operations. In this paper, we present a bioinspired underwater snake robot (USR) equipped with a passive caudal (tail) fin. In particular, a highly flexible USR configuration is presented that is capable of locomotion both on the ground and underwater due to its robust mechanical and modular design, which allows additional effectors to be attached to different modules of the robot depending on the requirements of the application. This provides flexibility to the operator, who can thus choose the proper configuration depending on the task to be performed in various uncertain environments on the ground and underwater. Experimental results on locomotion efficiency and pathfollowing control are obtained for a physical USR to enable a comparison of the USR motion with and without the passive caudal fin, for both lateral undulation and eellike motion patterns. Results comparing the locomotion efficiency in both simulations and experiments are presented in order to validate the proposed models for USRs. By means of fluid parameter identification, both a qualitative and a quantitative comparison between the simulated and experimental results are performed regarding the achieved forward velocity. Furthermore, the experimental results show that a path-following control approach that has previously been proposed for USRs without a caudal fin can be directly applied to solve the path-following control problem for this bioinspired USR with a passive caudal fin. In particular, it is shown that this path-following control approach successfully steers the robot toward and along the desired path, and furthermore, the results show that it is possible to almost double the forward velocity of the robot by using a passive caudal fin.

show abstract

Feedback design for 3D movement of an Eel-like robot

Cited by 15 publications

References 19 publications

Motion Control of a Three-Dimensional Eel-like Robot Without Pectoral Fins

Motion Control of a Three-Dimensional Eel-like Robot Without Pectoral Fins

Poincaré–Cosserat Equations for the Lighthill Three-dimensional Large Amplitude Elongated Body Theory: Application to Robotics

Experimental investigation of locomotion efficiency and path-following for underwater snake robots with and without a caudal fin

Contact Info

Product

Resources

About