Planar maneuvering control of underwater snake robots using virtual holonomic constraints

• Published in: Bioinspiration & biomimetics Vol. 11; no. 6; p. 65005
• Main Authors: Kohl, Anna M, Kelasidi, Eleni, Mohammadi, Alireza, Maggiore, Manfredi, Pettersen, Kristin Y
• Format: Journal Article
• Language: English
• Published: England IOP Publishing 24.11.2016
• Subjects: Algorithms; Animals; biologically inspired gaits; Biomimetic Materials; Biomimetics - methods; current estimation; Feedback; feedback control of underwater snake robots; Gait; hierarchical control; Locomotion; Robotics; Simulation Training - methods; Snakes; virtual holonomic constraints; Water

This paper investigates the problem of planar maneuvering control for bio-inspired underwater snake robots that are exposed to unknown ocean currents. The control objective is to make a neutrally buoyant snake robot which is subject to hydrodynamic forces and ocean currents converge to a desired pla...