Proportional heading control for planar navigation: The Chaplygin beanie and fishlike robotic swimming

Proportional heading control for planar navigation: The Chaplygin beanie and fishlike robotic swimming

We present a simple method for the coupled propulsion and steering of certain single-input planar vehicles. We demonstrate the applicability of this method to two distinct systems, one a hybridization of canonical systems from the mechanics literature and the other a fishlike robot. The first system...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Kelly, S. D., Fairchild, M. J., Hassing, P. M., Tallapragada, P.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Closed loop systems
Oscillators
Propellers
Robots
Rotors
Vehicles
Wheels
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:We present a simple method for the coupled propulsion and steering of certain single-input planar vehicles. We demonstrate the applicability of this method to two distinct systems, one a hybridization of canonical systems from the mechanics literature and the other a fishlike robot. The first system is examined analytically, the second experimentally.
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2012.6315688