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

Fingerprint

Robots
Propulsion

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering

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

The derivation of a dynamical model for a manta robot and its control. / Ikeda, Masaaki; Hikasa, Shigeki; Watanabe, Keigo; Nagai, Isaku.

2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1136-1139 7285535.

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

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., 7285535, Institute of Electrical and Electronics Engineers Inc., pp. 1136-1139, 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015, Hangzhou, China, 7/28/15. https://doi.org/10.1109/SICE.2015.7285535
Ikeda M, Hikasa S, Watanabe K, Nagai I. 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. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1136-1139. 7285535 https://doi.org/10.1109/SICE.2015.7285535
Ikeda, Masaaki ; Hikasa, Shigeki ; Watanabe, Keigo ; Nagai, Isaku. / The derivation of a dynamical model for a manta robot and its control. 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 1136-1139
@inproceedings{332fec6e374e4a0192fbbb1c6c7cd4d3,
title = "The derivation of a dynamical model for a manta robot and its control",
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.",
keywords = "Dynamical Model, Pectoral-fin Propulsion Mechanism, Underwater Robot",
author = "Masaaki Ikeda and Shigeki Hikasa and Keigo Watanabe and Isaku Nagai",
year = "2015",
month = "9",
day = "30",
doi = "10.1109/SICE.2015.7285535",
language = "English",
isbn = "9784907764487",
pages = "1136--1139",
booktitle = "2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - The derivation of a dynamical model for a manta robot and its control

AU - Ikeda, Masaaki

AU - Hikasa, Shigeki

AU - Watanabe, Keigo

AU - Nagai, Isaku

PY - 2015/9/30

Y1 - 2015/9/30

N2 - 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.

AB - 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.

KW - Dynamical Model

KW - Pectoral-fin Propulsion Mechanism

KW - Underwater Robot

UR - http://www.scopus.com/inward/record.url?scp=84960158480&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84960158480&partnerID=8YFLogxK

U2 - 10.1109/SICE.2015.7285535

DO - 10.1109/SICE.2015.7285535

M3 - Conference contribution

SN - 9784907764487

SP - 1136

EP - 1139

BT - 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015

PB - Institute of Electrical and Electronics Engineers Inc.

ER -