Simulation of an under-actuated fish-like robot controlled by an adaptive frequency oscillator inside a Karman Vortex Street

C. Tapia Siles, R. Chellali

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    Fish have developed techniques to exploit turbulence from water. They use them in order to economize energy used for locomotion. To learn how to take advantage of these fish strategies with an underwater machine we need to deal with the fluid environment, the robot morphology and the controller behavior, altogether. This paper presents a simulation case of a robot-controller- environment system. A "cheap design" approach has been used to propose an under-actuated robot. As the main characteristic observed in fish exploiting turbulence is the frequency adaptation, we used an Adaptive Frequency Oscillator as main pattern generator for the controller.
    Original languageEnglish
    Title of host publicationIFAC Proceedings Volumes
    Subtitle of host publication(IFAC-PapersOnline)
    Pages19-24
    Number of pages6
    Volume3
    Edition1
    Publication statusPublished - 2012
    Event3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012; Porto; Portugal - Porto, Portugal
    Duration: 10 Apr 201212 Apr 2012

    Conference

    Conference3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012; Porto; Portugal
    CountryPortugal
    CityPorto
    Period10/04/1212/04/12

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  • Cite this

    Tapia Siles, C., & Chellali, R. (2012). Simulation of an under-actuated fish-like robot controlled by an adaptive frequency oscillator inside a Karman Vortex Street. In IFAC Proceedings Volumes : (IFAC-PapersOnline) (1 ed., Vol. 3, pp. 19-24)