2008, English, Article edition: Motion Control of a Three-Dimensional Eel-like Robot Without Pectoral Fins Elrafei, Maher; Alamir, Mazen; Marchand, Nicolas; ...

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Bookmark: http://trove.nla.gov.au/version/207661
Physical Description
  • text
Published
  • HAL - CCSD
  • 2008
Language
  • English

Edition details

Title
  • Motion Control of a Three-Dimensional Eel-like Robot Without Pectoral Fins
Author
  • Elrafei, Maher
  • Alamir, Mazen
  • Marchand, Nicolas
  • Porez, Mathieu
  • Boyer, Frédéric
Published
  • HAL - CCSD
  • 2008
Physical Description
  • text
Subjects
Notes
  • In this paper, recent advances in the design of feedback laws for the 3D movement of an Eel-like robot are presented. Such a robot is under construction in the context of a national French robotic project. The proposed feedback enables the tracking of a desired 3D position of the Eel head as well as the stabilization of the rolling angle without using pectoral fins. We build on a previous work in which we proposed a complete control scheme for robot's 3D movement using its pectoral fins. The controller is tested on a recently developed complete 3D model in order to assess its efficiency in tackling 3D manoeuvres.
  • HAL:hal-00199433, version 1
  • HAL:http:/​/​hal.archives-ouvertes.fr/​hal-00199433/​en/​
Language
  • English
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