DocumentCode
3324837
Title
Reduced mean model for controlling a three-dimensional eel-like robot
Author
El Rafei, M. ; Alamir, M. ; Marchand, N. ; Porez, M. ; Boyer, F.
Author_Institution
Control Syst. Dept., GIPSA-Lab.
fYear
2009
fDate
22-25 Feb. 2009
Firstpage
645
Lastpage
650
Abstract
This paper presents a reduced mean model of a three-dimensional Eel-like robot. Such a robot is under construction in the context of a national French robotic project. This model is based on mechanical considerations as well as on our experience with an existing 3D continuous model of the target prototype. Identification and validation of the dynamic model are presented here.
Keywords
continuous systems; mobile robots; underwater vehicles; 3D continuous model; reduced mean model; three-dimensional eel-like robot control; Biomimetics; Control design; Joining processes; Mathematical model; Motion control; Prototypes; Roads; Robots; Skin; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on
Conference_Location
Bangkok
Print_ISBN
978-1-4244-2678-2
Electronic_ISBN
978-1-4244-2679-9
Type
conf
DOI
10.1109/ROBIO.2009.4913077
Filename
4913077
Link To Document