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A geometric approach to gait generation for eel-like locomotion

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2 Author(s)
K. A. McIsaac ; Gen. Robotics Autom. Sensing & Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA ; J. P. Ostrowski

We investigate issues of control and motion planning for a biomimetic robotic system. Previous work has shown that the motion problem can be decoupled into trajectory generation and steering. We investigate basic issues of momentum generation for a class of dynamic mobile robots, focusing on eel-like swimming robots. We use control laws based on a series of gaits motivated by the biological literature on coupled oscillators and central pattern generators. A primary characteristic of this class of robots is that drift plays a significant role in the generation of motion. We develop theoretical justification for a forward gait that has been observed in nature and for a turning gait, used in our control laws, that has not yet been studied in the biological literature. We also explore theoretical predictions of novel gaits for turning and sideways swimming

Published in:

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on  (Volume:3 )

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