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Open-loop Verification of Motion Planning for an Underwater Eel-like Robot

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Experimental Robotics VII

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 271))

Abstract

In this paper, we perform experimental verification of open-loop motion planning for a biomimetic robotic system using our underwater eel-like robot. Our results from past work provide theoretical justification 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 experiments performed with this robot using visual position sensing in an aquatic environment show good agreement with theory.

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Author information

Authors and Affiliations

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

    Kenneth A. McIsaac & James P. Ostrowski

Authors
  1. Kenneth A. McIsaac
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  2. James P. Ostrowski
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Editor information

Editors and Affiliations

  1. Department of Computer Science, Dartmouth College, Hanover, NH, 03755, USA

    Daniela Rus

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA

    Sanjiv Singh

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© 2001 Springer-Verlag Berlin Heidelberg

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McIsaac, K.A., Ostrowski, J.P. (2001). Open-loop Verification of Motion Planning for an Underwater Eel-like Robot. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_28

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  • DOI: https://doi.org/10.1007/3-540-45118-8_28

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-42104-7

  • Online ISBN: 978-3-540-45118-1

  • eBook Packages: Springer Book Archive

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