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题名:
Curved path following control for planar eel robots
作者: 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
作者部门: 机器人学研究室
通讯作者: Wang MH(王明辉)
关键词: Biologically inspired roboteel robots ; Path following ; Non-inertial frame ; Gait ; Asymptotic convergence
刊名: Robotics and Autonomous Systems
ISSN号: 0921-8890
出版日期: 2018
卷号: 108, 页码:129-139
收录类别: EI
EI收录号: 20183205676468
产权排序: 1
项目资助者: National Key R&D Program of China (2017YFB1300101).
摘要: 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.
语种: 英语
内容类型: 期刊论文
URI标识: http://210.72.131.170/handle/173321/22452
Appears in Collections:机器人学研究室_期刊论文

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作者单位: 1.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:
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.
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文件名: Curved path following control for planar eel robots.pdf
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