Physical Intelligence Conference Paper 2016

Steering control of a water-running robot using an active tail

07759726

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.

Author(s): Kim, HyunGyu and Jeong, Kyungmin and Sitti, Metin and Seo, TaeWon
Book Title: Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on
Pages: 4945--4950
Year: 2016
Month: October
Day: 9
Bibtex Type: Conference Paper (inproceedings)
DOI: 10.1109/IROS.2016.7759726
Electronic Archiving: grant_archive
Organization: IEEE

BibTex

@inproceedings{kim2016steering,
  title = {Steering control of a water-running robot using an active tail},
  booktitle = {Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on},
  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.},
  pages = {4945--4950},
  organization = {IEEE},
  month = oct,
  year = {2016},
  slug = {kim2016steering},
  author = {Kim, HyunGyu and Jeong, Kyungmin and Sitti, Metin and Seo, TaeWon},
  month_numeric = {10}
}