Self-entrainment to optimal gaits of an underactuated biomimetic swimming robot using adaptive frequency oscillators.
Journal:
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Published Date:
Aug 1, 2015
Abstract
Underactuated compliant swimming robots are characterized by a simple mechanical structure, capable to mimic the body undulation of many fish species. One of the design issue for these robots is the generation and control of best performing swimming gaits. In this paper we propose a new controller, based on AFO oscillators, to address this issue. After analyzing the effects of the motion on the robot natural frequencies, we show that the closed loop system is able to generate self-sustained oscillations, at a characteristic frequency, while maximizing swimming velocity.