Title :
Reduced mean model for controlling a three-dimensional eel-like robot
Author :
El Rafei, M. ; Alamir, M. ; Marchand, N. ; Porez, M. ; Boyer, F.
Author_Institution :
Control Syst. Dept., GIPSA-Lab.
Abstract :
This paper presents a reduced mean model of a three-dimensional Eel-like robot. Such a robot is under construction in the context of a national French robotic project. This model is based on mechanical considerations as well as on our experience with an existing 3D continuous model of the target prototype. Identification and validation of the dynamic model are presented here.
Keywords :
continuous systems; mobile robots; underwater vehicles; 3D continuous model; reduced mean model; three-dimensional eel-like robot control; Biomimetics; Control design; Joining processes; Mathematical model; Motion control; Prototypes; Roads; Robots; Skin; Vehicle dynamics;
Conference_Titel :
Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-1-4244-2678-2
Electronic_ISBN :
978-1-4244-2679-9
DOI :
10.1109/ROBIO.2009.4913077
