Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Dynamic control of the central pattern generator for locomotion
Biological Cybernetics - Special Issue: Dynamic Principles
Biological Cybernetics - Special Issue: Dynamic Principles
Stable concurrent synchronization in dynamic system networks
Neural Networks
Cooperative robot control and concurrent synchronization of Lagrangian systems
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
A bio-inspired approach for online trajectory generation of industrial robots
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Resonance entrainment of tensegrity structures via CPG control
Automatica (Journal of IFAC)
Robotics and Autonomous Systems
Hi-index | 0.00 |
This paper presents biologically inspired control strategies for an autonomous underwater vehicle (AUV) propelled by flapping fins that resemble the paddle-like forelimbs of a sea turtle. Our proposed framework exploits limit cycle oscillators and diffusive couplings, thereby constructing coupled nonlinear oscillators, similar to the central pattern generators (CPGs) in animal spinal cords. This paper first presents rigorous stability analyses and experimental results of CPG-based control methods with and without actuator feedback to the CPG. In these methods, the CPG module generates synchronized oscillation patterns, which are sent to position-servoed flapping fin actuators as a reference input. In order to overcome the limitation of the open-loop CPG that the synchronization is occurring only between the reference signals, this paper introduces a new single-layered CPG method, where the CPG and the physical layers are combined as a single layer, to ensure the synchronization of the physical actuators in the presence of external disturbances. The key idea is to replace nonlinear oscillators in the conventional CPG models with physical actuators that oscillate due to nonlinear state feedback of the actuator states. Using contraction theory, a relatively new nonlinear stability tool, we show that coupled nonlinear oscillators globally synchronize to a specific pattern that can be stereotyped by an outer-loop controller. Results of experimentation with a turtle-like AUV show the feasibility of the proposed control laws.