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다족형 생체모방 수중 로봇(CALEB10)의 각 자유도를 분리한 자세 제어 KCI 등재

Posture Control through Decomposed Control for Multi-Legged Biomimetic Underwater Robot (CALEB10)

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로봇학회논문지 (The Journal of Korea Robotics Society)
한국로봇학회 (Korea Robotics Society)
초록

This paper describes a study on posture control of the multi-legged biomimetic underwater robot (CALEB10). Because the underwater environment has a feature that all degrees of freedom are coupled to each other, we designed the posture control algorithm by separating each degree of freedom. Not only should the research on posture control of underwater robots be a precedent study for position control, but it is also necessary to compensate disturbance in each direction. In the research on the yaw directional posture control, we made the drag force generated by the stroke of the left leg and the right leg occur asymmetrically, in order that a rotational moment is generated along the yaw direction. In the composite swimming controller in which the controllers in each direction are combined, we designed the algorithm to determine the control weights in each direction according to the error angle along the yaw direction. The performance of the proposed posture control method is verified by a dynamical simulator and underwater experiments.

목차
Abstract
 1. 서 론
 2. CAELB10
  2.1 하드웨어 구조
  2.2 SPG (Swimming Pattern Generator)
  2.3 ESPG (Extended Swimming Pattern Generator)
 3. CALEB10의 자세 제어
  3.1 Yaw 방향 자세 제어 방법
  3.2 Pitch 방향 유영 제어 방법
 4. 시뮬레이션
  4.1 시뮬레이터의 구성
  4.2 Yaw 방향 자세 제어 시뮬레이션
  4.3 Yaw 방향 자세 제어 시뮬레이션 결과 및 분석
 5. 수중 실험
  5.1 Yaw 방향 자세 제어 수중 실험
  5.2 Yaw 방향 자세 제어 수중 실험 결과 및 분석
  5.3 복합 자세 제어 실험
  5.4 복합 자세 제어 실험 결과 및 분석
 6. 결 론
 References
저자
  • 이한솔(Mechatronics Engineering, Chungnam National University) | Hansol Lee
  • 이지홍(Mechatronics Engineering, Chungnam National University Gung-Dong) | Jihong Lee Corresponding author