| Volume 21 Issue 10 - Publication Date: 1 October 2002 |
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| Special issue on International
Symposia on Experimental Robotics 2000 |
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| Experimental Verification of
Open-loop Control for an Underwater Eel-like Robot |
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| Kenneth A. McIsaac
Department of Electrical and Computer Engineering, University of Western
Ontario, London, Ontario Canada N6G 1H1 and James P. Ostrowski
General Robotics Automation, Sensing and Perception Laboratory (GRASP),
University of Pennsylvania, Philadelphia PA 19104 |
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| 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. |
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| Multimedia Key |
= Video |
 = Data |
= Code |
= Image |
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Extension |
Type |
Description |
1 |
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Example
One: MPEG video of forward swimming. Data are taken during the
first 20 seconds. (9.8 MB) |
2 |
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Example
Two: Centre of mass position captured from Extension 1. |
3 |
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Example
Three: MPEG video of circular swimming. (5.4 MB) |
4 |
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Example
Four: Centre of mass position captured from Extension 3. |
5 |
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Example
Five: MPEG video of turning in place.(3.2 MB) |
6 |
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Example
Six: Orientation data (degrees) captured from Extension 5. |
7 |
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Example
Seven: MPEG video of sideways swimming. (3.1 MB) |
8 |
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Example
Eight: Centre of mass position captured from Extension 7. |
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