Propulsion control for a Manta robot with neural oscillators

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

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 proceeding › Conference contribution

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 language	English
Title of host publication	2012 Proceedings of SICE Annual Conference, SICE 2012
Publisher	Society of Instrument and Control Engineers (SICE)
Pages	85-88
Number of pages	4
ISBN (Print)	9781467322591
Publication status	Published - Jan 1 2012
Event	2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan Duration: Aug 20 2012 → Aug 23 2012

Publication series

Name	Proceedings of the SICE Annual Conference

Other

Other	2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
Country	Japan
City	Akita
Period	8/20/12 → 8/23/12

Keywords

Central Pattern Generator
Manta robot
Robotic fish

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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

2012 Proceedings of SICE Annual Conference, SICE 2012. Society of Instrument and Control Engineers (SICE), 2012. p. 85-88 6318413 (Proceedings of the SICE Annual Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ikeda, M, Yamamoto, Y, Yoshinaka, K, Watanabe, K & Nagai, I 2012, Propulsion control for a Manta robot with neural oscillators. in 2012 Proceedings of SICE Annual Conference, SICE 2012., 6318413, Proceedings of the SICE Annual Conference, Society of Instrument and Control Engineers (SICE), 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.

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