The derivation of a dynamical model for a manta robot and its control

Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

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

2 Citations (Scopus)

Abstract

In this paper, we derive a dynamical model for a manta robot by taking account of a pectoral-fin propulsion mechanism. Especially, the model is derived by considering the force generated from such a specialized propulsion mechanism, together with estimating added masses and moment due to a cubic body form used in this research. The effectiveness of the dynamical model is verified by comparing the simulation results based on the model with the measurement values using an actual robot.

Original languageEnglish
Title of host publication2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1136-1139
Number of pages4
ISBN (Print)9784907764487
DOIs
Publication statusPublished - Sep 30 2015
Event54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 - Hangzhou, China
Duration: Jul 28 2015Jul 30 2015

Other

Other54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
CountryChina
CityHangzhou
Period7/28/157/30/15

Keywords

  • Dynamical Model
  • Pectoral-fin Propulsion Mechanism
  • Underwater Robot

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Ikeda, M., Hikasa, S., Watanabe, K., & Nagai, I. (2015). The derivation of a dynamical model for a manta robot and its control. In 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 (pp. 1136-1139). [7285535] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SICE.2015.7285535