Motion Analysis and Control of Eskimo Roll of Kayak

爱斯基摩皮划艇横滚运动分析与控制

• 批准号: 11650949
• 负责人: KATO Naomi
• 金额: $ 2.18万
• 依托单位: Tokai University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1999
• 资助国家: 日本
• 起止时间: 1999 至 2000
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-11650949/
• 关键词: Eskimo roll; short-roll; long-roll; human dynamics; inverse kinematics; inverse dynamics; Eskimo roll robot; 立体視; 画像処理; パドル; 関節

Motion of short-roll and long-roll of Eskimo roll were pictured by CCD cameras in a pool to analyze the unsteady motion of human body and a kayak. We found out that the rolling speed of short-roll is about twice as fast as that of long-roll and that motion of long-roll is almost two-dimensional whereas motion of short-roll is three-dimensional.Human dynamics of long-roll was analyzed theoretically by using a motion model of an underwater robot with a manipulator where a human body a paddle were replaced with three links and one link, respectively. Motion of the joints were solved by simultaneous use of inverse kinematics and inverse dynamics. We found out that the simulation result corresponds fairly well with the experimental result.We made a Eskimo roll robot consisting of a manipulator with three joints and a kayak model. Motions of the joints were obtained to set the target motion of the robot from the motion model of a manipulator and a kayak model by inputting acceleration and angular acceleration of the end-effector. PD control was used. We found out that the robot could turn up from the capsized condition.

利用CCD摄像机拍摄了爱斯基摩人在水池中的短横摇和长横摇运动，分析了人体和皮艇的不稳定运动。研究发现，短横摇的滚动速度约为长横摇的2倍，长横摇的运动几乎是二维的，而短横摇的运动是三维的.利用一个带机械臂的水下机器人的运动模型，分别用三杆和一杆代替人体和划桨，对长横摇的人体动力学进行了理论分析.同时利用逆运动学和逆动力学求解关节的运动。仿真结果与实验结果吻合较好。我们制作了一个由三关节机械手和皮艇模型组成的爱斯基摩翻滚机器人。通过输入末端执行器的加速度和角加速度，从机械手的运动模型和皮划艇模型中获得关节的运动，以设置机器人的目标运动。使用PD对照。我们发现机器人可以从倾覆的状态中恢复过来。

项目成果

Kato,N.: "Application of Swimming Functions of Aquatic Animals to Autonomous Underwater Vehicles"Proc.Of OCEANS'99(IEEE/MTS). (1999)

Kato,N.：“水生动物游泳功能在自主水下航行器中的应用”Proc.Of OCEANS99(IEEE/MTS)。

Kato, N.: "Application of Swimming Functions of Aquatic Animals to Autonomous Underwater Vehicles"Proc.Of OCEANS' 99(IEEE/MTS). (1999)

Kato, N.：“水生动物游泳功能在自主水下航行器中的应用”Proc.Of OCEANS 99(IEEE/MTS)。