Steering Control of a Water-Running Robot Using an Active Tail
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Date
2016
Publication Type
Conference Paper
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no
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Abstract
Many highly dynamic novel mobile robots have been developed being inspired by animals. In this study, we are inspired by a basilisk lizard's ability to run and steer on water surface for a hexapedal robot. The robot has an active tail with a circular plate, which the robot rotates to steer on water. We dynamically modeled the platform and conducted simulations and experiments on steering locomotion with a bang-bang controller. The robot can steer on water by rotating the tail, and the controlled steering locomotion is stable. The dynamic modelling approximates the robot's steering locomotion and the trends of the simulations and experiments are similar, although there are errors between the desired and actual angles. The robot's maneuverability on water can be improved through further research.
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published
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2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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Pages / Article No.
4945 - 4950
Publisher
IEEE
Event
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
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09726 - Sitti, Metin (ehemalig) / Sitti, Metin (former)