The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Posture Control through Decomposed Control for Multi-Legged Biomimetic Underwater Robot (CALEB10)

다족형 생체모방 수중 로봇(CALEB10)의 각 자유도를 분리한 자세 제어

  • Lee, Hansol (Mechatronics Engineering, Chungnam National University) ;
  • Lee, Jihong (Mechatronics Engineering, Chungnam National University)
  • Received : 2017.11.01
  • Accepted : 2018.01.16
  • Published : 2018.02.28
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Abstract

This paper describes a study on posture control of the multi-legged biomimetic underwater robot (CALEB10). Because the underwater environment has a feature that all degrees of freedom are coupled to each other, we designed the posture control algorithm by separating each degree of freedom. Not only should the research on posture control of underwater robots be a precedent study for position control, but it is also necessary to compensate disturbance in each direction. In the research on the yaw directional posture control, we made the drag force generated by the stroke of the left leg and the right leg occur asymmetrically, in order that a rotational moment is generated along the yaw direction. In the composite swimming controller in which the controllers in each direction are combined, we designed the algorithm to determine the control weights in each direction according to the error angle along the yaw direction. The performance of the proposed posture control method is verified by a dynamical simulator and underwater experiments.

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References

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