Title :
Feedback design for 3D movement of an Eel-like robot
Author :
Alamir, M. ; El Rafei, M. ; Hafidi, G. ; Marchand, N. ; Porez, M. ; Boyer, F.
Author_Institution :
Dept. of Autom. control, GIPSA-Lab
Abstract :
This paper relates recent advances in the design of feedback laws for the 3D movement of an Eel-like robot. Such a robot is under construction in the context of a national French robotic project. The proposed feedback enables the tracking of a desired 3D position of the Eel head as well as the stabilization of the rolling angle. A velocity controller is also proposed. The controller is tested on a recently developed complete 3D model in order to assess its efficiency in tackling 3D manoeuvres.
Keywords :
control system synthesis; feedback; mobile robots; motion control; position control; stability; target tracking; velocity control; 3D position tracking; 3D robot movement; Eel-like robot; feedback design; national French robotic project; rolling angle stabilization; velocity controller; Automatic control; Biomimetics; Feedback; Mathematical model; Motion control; Prototypes; Robot control; Robotics and automation; Testing; Velocity control;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363796
