A CPG design of considering the attitude for the propulsion control of a Manta robot

Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

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

2 Citations (Scopus)

Abstract

In recent years, autonomous unmanned underwater vehicles (AUVs) for underwater propulsion ecology investigation attracts attention from underwater researchers. Among these AUVs, one mimicked the fish is being developed, because of the low sound noise and the rapid turning predominance. The central pattern generators (CPGs), which is a neural circuit for a periodic motion generation of a living thing, is being applied to the control of a mobile robot. In this paper, we design a CPG in consideration of the attitude of a Manta robot for the propulsion control of it. The numerical model of the CPG uses the Matsuoka model. The effectiveness of the proposed technique is shown by numerical simulations.

Original languageEnglish
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages6354-6358
Number of pages5
DOIs
Publication statusPublished - Dec 1 2013
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: Nov 10 2013Nov 14 2013

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period11/10/1311/14/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Ikeda, M., Hikasa, S., Watanabe, K., & Nagai, I. (2013). A CPG design of considering the attitude for the propulsion control of a Manta robot. In Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society (pp. 6354-6358). [6700181] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2013.6700181