Affiliation:
1. Department of Electrical and Computer Engineering University of Western Ontario London, Ontario Canada N6G 1H1
2. General Robotics Automation, Sensing and Perception Laboratory (GRASP) University of Pennsylvania Philadelphia PA 19104
Abstract
In this paper, we describe experimental work using an underwater, biomimetic, eel-like robot to verify a simplified dynamic model and open-loop control routines. We compare experimental results to previous analytically derived, but approximate expressions for proposed gaits for forward/backward swimming, circular swimming, sideways swimming and turning in place. We have developed a five-link, underwater eel-like robot, focusing on modularity, reliability and rapid prototyping, to verify our theoretical predictions. Results from open-loop experiments performed with this robot in an aquatic environment using an off-line vision system for position sensing show good agreement with theory.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software
Cited by
16 articles.
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