Modeling and Control of Head of the Underwater Snake-like Robot Swimming

Ke Yang, Xu-Yang Wang, Tong Ge, Chao Wu

(School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, China)



Abstract:

In order to solve oscillation of head of the underwater snake-like robot, the Central Pattern Generator (CPG)-based control scheme with head-controller was presented. The Kane dynamic model was constructed to be processed with a commercial package MotionGenesis Kane 5.3, to which the proposed control scheme was applied. The relation between CPG parameters and orientation offset of head was investigated. The target orientation of head-controller was calculated through a convenient method. The advantage of this control scheme is that the head of the underwater snake-like robot remains in the forward direction during swimming. To prove the feasibility of the proposed methodology, two basic motion patterns, swimming along the straight line and swimming along the curved path, had been implemented in our simulation platform. The results showed that the simulation platform can imitate the swimming of the underwater snake-like robot and the head of the underwater snake-like robot remains in a fixed orientation directed towards the target. The oscillation of head’s orientation is inhibited effectively.

Key words:  underwater snake-like robot  CPG-based control scheme  head-controller  MotionGenesis Kane 5.3

DOI：10.11916/j.issn.1005-9113.2014.01.011

Clc Number:TP242.6

Fund: