Motion Control of a Three-Dimensional Eel-like Robot Without Pectoral Fins

Maher El Rafei (1) , Mazen Alamir (1) , Nicolas Marchand (1) , Mathieu Porez (2) , Frédéric Boyer (2)

1 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

In this paper, recent advances in the design of feedback laws for the 3D movement of an Eel-like robot are presented. Such a robot is under construction in the context of a national French robotic project. The proposed feedback enables the tracking of a desired 3D position of the Eel head as well as the stabilization of the rolling angle without using pectoral fins. We build on a previous work in which we proposed a complete control scheme for robot's 3D movement using its pectoral fins. The controller is tested on a recently developed complete 3D model in order to assess its efficiency in tackling 3D manoeuvres.

Keywords: 3D Control; Eel Robot

Domains: Optimization and Control [math.OC]

Maher El Rafei, Mazen Alamir, Nicolas Marchand, Mathieu Porez, Frédéric Boyer. Motion Control of a Three-Dimensional Eel-like Robot Without Pectoral Fins. IFAC WC 2008 - 17th IFAC World Congress, Jul 2008, Séoul, South Korea. ⟨hal-00199433⟩