Macro-continuous computed torque algorithm for a three-dimensional eel-like robot

Boyer, Frédéric; Porez, Mathieu; Khalil, Wisama

doi:10.1109/tro.2006.875492

Cited by 153 publications

(154 citation statements)

References 26 publications

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“…In order to support this idea, we consider an underwater snake robot described by (3) forced to move with lateral undulation, (5), and eel-like motion, (6), along the global x axis with φ 0 = 0 o . Fig.…”

Section: Analysis Of Link Motionmentioning

confidence: 99%

“…Empirical and analytic studies of snake locomotion were reported by Gray [3], while, among the first attempts to develop a snake prototype, the work of Hirose [4] is essential. Recently, HRMs are presented that are suited for aquatic propulsion as well [5], [6].…”

Section: Introductionmentioning

confidence: 99%

“…In this field, several mathematical models of underwater snake robots have been developed [7], [8], [5], [9], [6], [10], [11], [12]. However, all these models are rather complex and thereby challenging to investigate analytically.…”

Section: Introductionmentioning

confidence: 99%

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A control-oriented model of underwater snake robots

Kelasidi

Pettersen

Gravdahl³

2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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Abstract-In this paper we consider swimming underwater snake robots that are fully immersed in water and moving in a virtual horizontal plane. The main objective of the paper is to develop a model that is well suited for control design and stability analysis for swimming snake robots. The proposed model is notably less complex than the existing models, while significant parameters such as added mass effects, linear drag forces, torques due to the added mass and linear drag forces, are all taken into account in the modeling. An extensive analysis of a previously proposed complex model of underwater snake robots ([1]) is presented, and from this analysis a set of essential properties that characterize the overall motion of underwater snake robots is derived. The proposed controloriented modeling approach captures these essential properties, resulting in a less complex model that is well suited for control design, and at the same time has the same essential properties as the complex model. A qualitative validation of this is given by simulations that present a comparison of representative parameters of the complex and the control-oriented models for lateral undulation and eel-like motion.

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Section: Analysis Of Link Motionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A control-oriented model of underwater snake robots

Kelasidi

Pettersen

Gravdahl³

2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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“…As has been noted in the bio-robotics community, underwater snake robots bring a promising prospective to improve the efficiency and maneuverability of next generation underwater vehicles [1,11,30]. They have several promising applications for underwater exploration, monitoring, surveillance and inspection, and they carry a lot of potential for inspection of subsea oil and gas installations.…”

Section: Introductionmentioning

confidence: 99%

“…In [11,12], the authors propose a model of underwater snake robots, where the dynamic equations are written in closed form. Compared to the models in [1,4,21,24,27,30] it is an advantage from an analysis point of view that the model is in closed form, as opposed to including numerical evaluations of the drag effects. In addition, it is beneficial that it includes both resistive and reactive fluid forces, since swimming snake robots operate at Reynolds numbers that require both these effects to be taken into account.…”

Section: Introductionmentioning

confidence: 99%

Multi-objective optimization for efficient motion of underwater snake robots

Kelasidi¹,

Jesmani²,

Pettersen³

et al. 2016

Artif Life Robotics

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Underwater snake robots constitute a bio-inspired solution within underwater robotics. Increasing the motion efficiency in terms of the forward speed by improving the locomotion methods is a key issue for underwater robots. Furthermore, the energy efficiency is one of the main challenges for long-term autonomy of these systems. In this study, we will consider both these two aspects of efficiency, which in some cases can be conflicting. To this end, we formulate a multi-objective optimization problem to minimize power consumption and maximize forward velocity. In particular, the optimal values of the gait parameters for different motion patterns are calculated in the presence of trade-offs between power consumption and velocity. As is the case with all multi-objective optimization problems, the solution is not a single point but rather a set of points. We present a weightedsum method to combine power consumption and forward velocity optimization problems. Particle Swarm Optimization (PSO) is applied to obtain optimal gait parameters for different weighting factors. Trade-off curves or Pareto fronts are illustrated in a power consumption-forward velocity plane for both lateral and eel-like motion pattern. They give information on objective trade-offs and can show how improving power consumption is related to deteriorating the for-

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2015

Automation for Robotics

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Macro-continuous computed torque algorithm for a three-dimensional eel-like robot

Cited by 153 publications

References 26 publications

A control-oriented model of underwater snake robots

A control-oriented model of underwater snake robots

Multi-objective optimization for efficient motion of underwater snake robots

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