SIA OpenIR  > 机器人学研究室
Curved path following control for planar eel robots
Zhang AF(张安翻)1,3; Ma SG(马书根)1,2; Li B(李斌)1; Wang MH(王明辉)1
Department机器人学研究室
Source PublicationRobotics and Autonomous Systems
ISSN0921-8890
2018
Volume108Pages:129-139
Indexed BySCI ; EI
EI Accession number20183205676468
WOS IDWOS:000445718200010
Contribution Rank1
Funding OrganizationNational Key R&D Program of China
KeywordBiologically Inspired Roboteel Robots Path Following Non-inertial Frame Gait Asymptotic Convergence
Abstract

The dynamic models of the eel robots are under-actuated, highly nonlinear and coupled. It is thus a challenging work to design the path following controller for the eel robots. This paper proposes a framework of general curved path following control for planar eel robots. An implicit equation is used for describing the general 2D curved path. For simplicity, the eel robots are assumed to have smaller lateral displacement compared to the forward motion. A modified feedback control law based on the kinematic approximation model is combined with the gait controller to realize the curved path following of the eel robots. The eel robots with different gait patterns starting from an arbitrary initial position can guarantee asymptotic convergence to any given position. The simulation results show its effectiveness to apply the path following controller to the eel robot.

Language英语
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics
WOS KeywordSNAKE ROBOTS ; DYNAMIC UNCERTAINTIES ; LOCOMOTION
WOS Research AreaAutomation & Control Systems ; Computer Science ; Robotics
Funding ProjectNational Key R&D Program of China[20171YFB1300101]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/22390
Collection机器人学研究室
Corresponding AuthorWang MH(王明辉)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Department of Robotics, Ritsumeikan University, Shiga-ken, 525-8577, Japan
3.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Zhang AF,Ma SG,Li B,et al. Curved path following control for planar eel robots[J]. Robotics and Autonomous Systems,2018,108:129-139.
APA Zhang AF,Ma SG,Li B,&Wang MH.(2018).Curved path following control for planar eel robots.Robotics and Autonomous Systems,108,129-139.
MLA Zhang AF,et al."Curved path following control for planar eel robots".Robotics and Autonomous Systems 108(2018):129-139.
Files in This Item: Download All
File Name/Size DocType Version Access License
Curved path followin(4444KB)期刊论文出版稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Zhang AF(张安翻)]'s Articles
[Ma SG(马书根)]'s Articles
[Li B(李斌)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Zhang AF(张安翻)]'s Articles
[Ma SG(马书根)]'s Articles
[Li B(李斌)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Zhang AF(张安翻)]'s Articles
[Ma SG(马书根)]'s Articles
[Li B(李斌)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Curved path following control for planar eel robots.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.