로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제12권2호
  • /
  • Pages.228-238
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  • 2017
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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다족형 생체모방 수중 로봇(CALEB10)의 Pitch 유영 제어

Pitch Directional Swimming Control of Multi-Legged Biomimetic Underwater Robot (CALEB10)

  • Lee, Hansol (Mechatronics Engineering, Chungnam National University) ;
  • Lee, Jihong (Mechatronics Engineering, Chungnam National University)
  • 투고 : 2017.03.21
  • 심사 : 2017.04.24
  • 발행 : 2017.05.31
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초록

The CALEB10 is a multi-legged biomimetic underwater robot. In the last research, we developed a swimming pattern named ESPG (Extended Swimming Pattern Generator) by observing diving beetle's swimming actions and experimented with a positive buoyancy state in which CALEB10 floats on the water. In this paper, however, we have experimented with CALEB10 in a neutral buoyancy state where it is completely immersed in water for pitch motion control experiment. And we found that CALEB10 was unstably swimming in the pitch direction in the neutral buoyancy state and analyzed that the reason was due to the weight proportion of the legs. In this paper, we propose a pitch motion control method to mimic the pitch motion of diving beetles and to solve the problem of CALEB10 unstably swimming in the pitch direction. To control the pitch motion, we use the method of controlling additional joints while swimming with the ESPG. The method of obtaining propulsive force by the motion of the leg has a problem of giving propulsive force in the reverse direction when swimming in the surge direction, but this new control method has an advantage that a propulsive moment generated by a swimming action only on a target pitch value. To demonstrate validity this new control method, we designed a dynamics-based simulator environment. And the control performance to the target pitch value was verified through simulation and underwater experiments.

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참고문헌

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피인용 문헌

  1. Posture Control through Decomposed Control for Multi-Legged Biomimetic Underwater Robot (CALEB10) vol.13, pp.1, 2018, https://doi.org/10.7746/jkros.2018.13.1.063