Propulsion control for a Manta robot with neural oscillators

Masaaki Ikeda, Yuya Yamamoto, Katsunori Yoshinaka, Keigo Watanabe, Isaku Nagai

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

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages85-88
Number of pages4
Publication statusPublished - 2012
Event2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan
Duration: Aug 20 2012Aug 23 2012

Other

Other2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
CountryJapan
CityAkita
Period8/20/128/23/12

Fingerprint

Propulsion
Robots
Propellers
Fish
Unmanned underwater vehicles
Experiments

Keywords

  • Central Pattern Generator
  • Manta robot
  • Robotic fish

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Ikeda, M., Yamamoto, Y., Yoshinaka, K., Watanabe, K., & Nagai, I. (2012). Propulsion control for a Manta robot with neural oscillators. In Proceedings of the SICE Annual Conference (pp. 85-88). [6318413]

Propulsion control for a Manta robot with neural oscillators. / Ikeda, Masaaki; Yamamoto, Yuya; Yoshinaka, Katsunori; Watanabe, Keigo; Nagai, Isaku.

Proceedings of the SICE Annual Conference. 2012. p. 85-88 6318413.

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

Ikeda, M, Yamamoto, Y, Yoshinaka, K, Watanabe, K & Nagai, I 2012, Propulsion control for a Manta robot with neural oscillators. in Proceedings of the SICE Annual Conference., 6318413, pp. 85-88, 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012, Akita, Japan, 8/20/12.
Ikeda M, Yamamoto Y, Yoshinaka K, Watanabe K, Nagai I. Propulsion control for a Manta robot with neural oscillators. In Proceedings of the SICE Annual Conference. 2012. p. 85-88. 6318413
Ikeda, Masaaki ; Yamamoto, Yuya ; Yoshinaka, Katsunori ; Watanabe, Keigo ; Nagai, Isaku. / Propulsion control for a Manta robot with neural oscillators. Proceedings of the SICE Annual Conference. 2012. pp. 85-88
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