A swimming robot with an internal rotor as a nonholonomic system
A swimming robot with an internal rotor as a nonholonomic system
复制标题
带有内转子的游泳机器人作为非完整系统
DOI：
10.1109/acc.2015.7170810
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Phanindra Tallapragada
中科院分区：
文献类型：
--
作者：
Phanindra Tallapragada
本文研究了两种看似不同类别的欠驱动仿生机器人系统模型。第一个模型是像鱼一样游泳的水生机器人。第二个是查普雷金雪橇的修改版本，这是一种规范的非完整系统，可以在地面或刚性表面上移动。结果表明，两个系统运动的控制原理是非完整约束的存在。在确定了不可积约束的通用框架后，提出了一种由内转子驱动的水上机器人。
Two models of seemingly different classes of under actuated bio-inspired robotic systems are studied in this paper. The first model is that of an aquatic robot that swims like a fish. The second is a modified version of Chaplygin's sleigh, a canonical nonholonomic system, that can move on the ground or a rigid surface. It is shown that a governing principle underlying the locomotion of both systems is the existence of a nonholonomic constraint. Having identified the common framework of non integrable constraints, an aquatic robot propelled by an internal rotor is presented.