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The International Journal of Robotics Research
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Experimental Verification of Open-loop Control for an Underwater Eel-like Robot

Kenneth A McIsaac

Department of Electrical and Computer Engineering, University of Western Ontario, London, Ontario Canada N6G 1H1

James P Ostrowski

General Robotics Automation, Sensing and Perception Laboratory (GRASP), University of Pennsylvania, Philadelphia PA 19104

In this paper, we describe experimental work using an underwater, biomimetic, eel-like robot to verify a simplified dynamic model and open-loop control routines. We compare experimental results to previous analytically derived, but approximate expressions for proposed gaits for forward/backward swimming, circular swimming, sideways swimming and turning in place. We have developed a five-link, underwater eel-like robot, focusing on modularity, reliability and rapid prototyping, to verify our theoretical predictions. Results from open-loop experiments performed with this robot in an aquatic environment using an off-line vision system for position sensing show good agreement with theory.

Key Words: robotic locomotion • biomimetics • motion planning • experimental verification • vision-based control

The International Journal of Robotics Research, Vol. 21, No. 10-11, 849-859 (2002)
DOI: 10.1177/0278364902021010095
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[Abstract] [PDF]