Poincaré-Cosserat Equations for the Lighthill Three-dimensional Large Amplitude Elongated Body Theory: Application to Robotics.
ABSTRACT In this article, we describe a dynamic model of the three-dimensional eel swimming. This model is analytical and suited to
the online control of eel-like robots. The proposed solution is based on the Large Amplitude Elongated Body Theory of Lighthill
and a framework recently presented in Boyer et al. (IEEE Trans. Robot. 22:763–775, 2006) for the dynamic modeling of hyper-redundant robots. This framework was named “macro-continuous” since, at this macroscopic
scale, the robot (or the animal) is considered as a Cosserat beam internally (and continuously) actuated. This article introduces
new results in two directions. Firstly, it extends the Lighthill theory to the case of a self-propelled body swimming in three
dimensions, while including a model of the internal control torque. Secondly, this generalization of the Lighthill model is
achieved due to a new set of equations, which are also derived in this article. These equations generalize the Poincaré equations
of a Cosserat beam to an open system containing a fluid stratified around the slender beam.
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ABSTRACT: The paper deals with the modeling of a fish- like robot equipped with the electric sense, suited to study sensorimotor loops. The proposed multi-physics model merges a swimming dynamic model of a fish-like robot with an electric model of an embedded electrolocation sensor. Based on a TCP- IP and threaded framework, the resulting simulator works in real time. After presenting the modeling aspects of this work, this article focuses on two numerical studies. In the first, the in- teractions between body deformations and perception variables are studied and a current correction process is proposed. In the second study, an electric exteroceptive feedback loop based on a direct current measurement method is designed and tested for obstacle avoidance.IROS 2011; 01/2011
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ABSTRACT: In bio-inspired robotics, use of a Central Pattern Generator (CPG) to coordinate actuation is fairly common. The gait achieved depends on a number of CPG parameters, which can be adjusted to control the robot's motion. This paper presents an output feedback motion control framework, addressing issues encountered when dealing with this type of control problem, including partial state measurements and system uncertainty. Efficacy of the presented approach is illustrated by results of numerical simulations in the case of a swimming robot.01/2011;