Wide-Speed Autopilot System for a Swimming Hexapod Robot

Giguère, Philippe; Girdhar, Yogesh; Dudek, Gregory

doi:10.1109/crv.2013.13

Cited by 14 publications

(7 citation statements)

References 15 publications

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“…Or attaching an FPGA control system to the robot to perform the image processing and guiding tasks [68]. While [69] utilized Python to build a model using the 'Raspberry Pi 3 model b+'; or even some techniques related to stability like gain scheduling technique [70]. It's worth to mention that this technique (Machine Learning technique) can be used for different applications that may be merged with some robots to perform important tasks [71][72][73][74][75].…”

Section: Figure 4 Planning Procedures 4 Related Work For Controlling Methodsmentioning

confidence: 99%

Vision-Based Mobile Robot Controllers: A Scientific Review

Abdulazeez¹

2021

TURCOMAT

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Today, there are different types of self-controlled robots. Some of them had critical effects on our lives like industrial and medical robots. Others are for military usages such as drones and the pets robots just for entertainment. The crucial differences between this kind of robot and the controlled ones are their ability to move on their own and make decisions based on their observations of the world around them. Mobile robots must have a data source used as an input dataset and processed to change their behavior; for instance, moving, stopping, rotating, or doing any required action based on the information gathered from the surrounding environment. Different types of sensors were used to feed robots controllers with data. Such data source could be ultrasonic sensor, laser sensor, torque sensor, or vision sensor. Robots integrated with cameras were becoming an essential field of study. They recently attracted significant attention from researchers it has been commonly used in many sectors of healthcare, manufacturing, and many other services. The robot needs a controller with a powerful mechanism of realization to deal with such incoming data. The world of mobile robot controllers is discussed in this paper, and the latest trends were reviewed. This review aims to provide a general understanding of robot controllers and navigation methods developed over the last few years.

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Section: Figure 4 Planning Procedures 4 Related Work For Controlling Methodsmentioning

confidence: 99%

Vision-Based Mobile Robot Controllers: A Scientific Review

Abdulazeez¹

2021

TURCOMAT

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“…[27] and [28] present modeling and model-based control of Aqua, but only for a single simultaneous DOF. In [29] authors also demonstrate multi-DOF control using a combination of model-free PD and PI controllers for yaw, roll, pitch and heave. They avoid coupling problems by using gain scheduling depending on the surge speed.…”

Section: Multi-fin Underwater Vehicles and Their Control Systemsmentioning

confidence: 99%

Motion Control of a Hovering Biomimetic Four-Fin Underwater Robot

Salumäe

Chemori

Kruusmaa

2019

IEEE J. Oceanic Eng.

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U-CAT is a highly maneuverable biomimetic 4-fin underwater robot for operating in confined spaces. Because of its novel mechanical design and specialized purpose, the traditional autonomous underwater robot control methods are not directly applicable on U-CAT. This paper proposes a novel modular control architecture that can be adopted for different application scenarios. Within this framework we implement and test several 2-degree of freedom (DOF) controllers and discuss the test results. Furthermore, we describe and implement an actuation coupling method by prioritizing the selection of DOF with fuzzy membership functions and demonstrate the approach for 3-DOF control. The results show that the proposed DOF prioritization approach helps to improve tracking both in the case of human in the loop and automatic control. Finally, we describe long duration field experiments in realistic environmental conditions. I. INTRODUCTION A UTONOMOUS underwater vehicles (AUVs), such as Iver-2 [1], Bluefins [2] and Remus [3], are nowadays widely used in many research areas and industries. For example the oil and gas industry uses them for surveys to locate deposits and to inspect pipelines or rigs [4], navies use them for intelligence and mine countermeasures [5]; and archaeologists use them to locate historical shipwrecks [6]. The large variety of applications of AUVs motivates researchers to develop more and more advanced control systems and technologies for these vehicles. The more advanced control systems in turn shift AUV application towards even more complex underwater environments. In many of these environments, traditional vehicle designs

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“…Although vehicles like Dorado [23] and Hugin [20] are extremely capable for long distance and deep water exploration, Aqua's propulsion is based on six flippers that can provide motion in five degrees of freedom is most suitable for tasks requiring high maneuverability, such as coral reef exploration. By using a novel combination of gaits, the Aqua can move at various speeds while maintaining its orientation, despite external disturbances [11], [21].…”

Section: A Robot Platformmentioning

confidence: 99%

Exploring Underwater Environments with Curiosity

Girdhar

Dudek

2014

2014 Canadian Conference on Computer and Robot Vision

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Abstract-This paper presents a novel approach to modeling curiosity in a mobile robot, which is useful for monitoring and adaptive data collection tasks. We use ROST, a realtime topic modeling framework to build a semantic perception model of the environment, using which, we plan a path through the locations in the world with high semantic information content. We demonstrate the approach using the Aqua robot in a variety of different scenarios, and find the robot be able to do tasks such as coral reef inspection, diver following, and sea floor exploration, without any prior training or preparation.

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Wide-Speed Autopilot System for a Swimming Hexapod Robot

Cited by 14 publications

References 15 publications

Vision-Based Mobile Robot Controllers: A Scientific Review

Vision-Based Mobile Robot Controllers: A Scientific Review

Motion Control of a Hovering Biomimetic Four-Fin Underwater Robot

Exploring Underwater Environments with Curiosity

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