Development of an Autonomous Modular Swimming Robot with Disturbance Rejection and Path Tracking
Development of an Autonomous Modular Swimming Robot with Disturbance Rejection and Path Tracking
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DOI：
10.1109/iros55552.2023.10341571
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发表时间：
2023-10
期刊：
影响因子：
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通讯作者：
Hankun Deng;Colin Nitroy;Kundan Panta;Donghao Li;S. Priya;Bo Cheng
中科院分区：
文献类型：
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作者：
Hankun Deng;Colin Nitroy;Kundan Panta;Donghao Li;S. Priya;Bo Cheng
在这里，我们提出了自主模块化游泳机器人的发展。这个机器人名为µBot 2.0，是从我们以前的机器人平台µBot升级而来的，具有板载计算、传感和电源功能。其紧凑的尺寸和模块化使机器人成为研究仿生机器人游泳的理想平台。机器人头部配备了一个微控制器，通过蓝牙低功耗（BLE）与外部计算机通信，并通过内部集成电路（I2C）协议向身体部分发送电机命令。每个身体部分都有一个定制的印刷电路板（PCB），用于接收命令并控制电磁致动器以产生身体运动。机器人头部还配备了一个惯性测量单元（IMU）来测量其航向和一个电池供电。在这项工作中，组装了一个带有三个致动器的µBot 2.0，并测试了游泳性能。机器人执行器被激活，通过有节奏的电机输入从中央模式发生器（CPG）。实验结果表明，游泳速度对电机输入的频率高度敏感，在6 Hz时的最大游泳速度为130 mm/s（相当于每秒0.7个体长）。该机器人还能够通过IMU反馈来校正其航向，并使用带有头顶摄像机的视线（LOS）制导律来遵循所需路径。我们的研究结果表明，机器人的设计和它的潜力，在各种水生应用的有效性。
Here we present the development of an autonomous modular swimming robot. This robot, named µBot 2.0, was upgraded from our previous robot platform µBot and features onboard computing, sensing, and power. Its compact size and modularity render the robot an ideal platform for studying bio-inspired robot swimming. The robot is equipped with a micro controller in its head that communicates with external computers through Bluetooth Low Energy (BLE) and sends motor commands to the body segments via Inter-Integrated Circuit (I2C) protocol. Each body segment has a customized printed circuit board (PCB) that receives commands and controls the electromagnetic actuator for generating body movements. The robot head is also equipped with an Inertial Measurement Unit (IMU) to measure its heading and a battery for power. In this work, a µBot 2.0 with three actuators was assembled and the swimming performance was tested. The robot actuators were activated via rhythmic motor input from a central pattern generator (CPG). Experimental results showed that the swimming speed was highly sensitive to the frequency of the motor input, with a maximum swimming speed of 130 mm/s (equivalent to 0.7 body length per second) at 6 Hz. The robot also had the capability to correct its heading with IMU feedback and follow desired paths using a line-of-sight (LOS) guidance law with an overhead camera. Our results demonstrate the effectiveness of the robot's design and its potential in a variety of aquatic applications.