Basic study of the adaptive control for the swimming robot using self-excited oscillation
Basic study of the adaptive control for the swimming robot using self-excited oscillation
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DOI：
10.1299/transjsme.18-00054
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
A. Yamano;H. Ijima
中科院分区：
文献类型：
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作者：
A. Yamano;H. Ijima
一些使用波动运动的生物显示出游泳频率和波动波长的转变。这种游泳行为的转变是通过感觉反馈实现的，可能具有科普环境变化的作用。特别是，线虫之一：秀丽隐杆线虫可以调节其频率从大约0.3到2 Hz，并改变波动体的波长从小于一个体长到几乎两倍的体长。在这种调制下，C.线虫在从水中到琼脂表面的条件下实现运动。受此启发，我们提出了自适应控制的多连杆游泳机器人，因为环境的变化要求一个移动的机器人的运动模式的变化。提出的自适应控制采用从关节角度到关节处的致动器的输入的感觉反馈来产生自激振荡。首先，我们在流体中建立了具有感觉反馈的多链接模型。在此基础上，利用特征值分析法建立了线性化模型，得到了外部阻力、多连杆模型参数和游泳频率之间的关系。我们确认所提出的自适应控制是否模拟调制的波动，如C。优雅的。此外，我们指定的多链路模型的参数，这是相关的波动的频率和波长显着。
Some organisms using undulatory locomotion show the transition of the swimming frequency and the wavelength of the undulation. This transition of swimming behavior is achieved by sensory feedback, and may have the role to cope with the environmental change. Especially, one of the nematode: Caenorhabditis elegans can modulate its frequency from approximately 0.3 to 2 Hz, and vary the wavelength of undulating body from less than a single body length to almost twice the body length. With this modulation, C. elegans achieves the movement under the conditions from in water to on the surface of an agar. Inspired by this finding, we propose the adaptive control for the multilink swimming robot because the environmental change demands a mobile robot the change of the pattern of the locomotion. Proposed adaptive control employs the sensory feedback from joint angles to inputs of actuators at joints to generate the self-excited oscillation. At first, we construct the multilink model in fluid with sensory feedback. After that, we construct the linearized model to obtain the relationship among the external resistive force, parameters of the multilink model and the swimming frequency by using the eigenvalue analysis. We confirm whether the proposed adaptive control simulates the modulation of undulation like C. elegans. Moreover, we specify parameters of the multilink model which are related to the frequency and wavelength of undulation significantly.