TY - GEN
T1 - Propulsion control for a Manta robot with neural oscillators
AU - Ikeda, Masaaki
AU - Yamamoto, Yuya
AU - Yoshinaka, Katsunori
AU - Watanabe, Keigo
AU - Nagai, Isaku
PY - 2012/1/1
Y1 - 2012/1/1
N2 - In recent years, autonomous unmanned underwater vehicles (AUVs) for underwater exploration are studied and developed activity. It is important to control the position and attitude of an AUV in underwater with stream change. A conventional AUV moves underwater using screw propellers. In underwater, fishes control own fins and body more freely than an AUV using screw propellers. A kind of the neural oscillator that generates periodic movement of living thing is called a central pattern generator (CPG). In this paper, we develop an underwater exploration robot that mimics a Manta out of many fishes, where its mechanical reproduction is easy relatively. Furthermore, a CPG is proposed to control the propulsive power by the pectoral fins of the Manta robot. The effectiveness of the proposed method is verified by the experiment using the developed Manta robot.
AB - In recent years, autonomous unmanned underwater vehicles (AUVs) for underwater exploration are studied and developed activity. It is important to control the position and attitude of an AUV in underwater with stream change. A conventional AUV moves underwater using screw propellers. In underwater, fishes control own fins and body more freely than an AUV using screw propellers. A kind of the neural oscillator that generates periodic movement of living thing is called a central pattern generator (CPG). In this paper, we develop an underwater exploration robot that mimics a Manta out of many fishes, where its mechanical reproduction is easy relatively. Furthermore, a CPG is proposed to control the propulsive power by the pectoral fins of the Manta robot. The effectiveness of the proposed method is verified by the experiment using the developed Manta robot.
KW - Central Pattern Generator
KW - Manta robot
KW - Robotic fish
UR - http://www.scopus.com/inward/record.url?scp=84869437439&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84869437439&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84869437439
SN - 9781467322591
T3 - Proceedings of the SICE Annual Conference
SP - 85
EP - 88
BT - 2012 Proceedings of SICE Annual Conference, SICE 2012
PB - Society of Instrument and Control Engineers (SICE)
T2 - 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
Y2 - 20 August 2012 through 23 August 2012
ER -