Amplitude Control for Parallel Lattices of Docked Modboats
Gedaliah Knizhnik,Mark Yim,Gedaliah Knizhnik,Mark Yim
The Modboat is a low-cost, underactuated, modular robot capable of surface swimming. It is able to swim individually, dock to other Modboats, and undock from them using only a single motor and two passive flippers. Undocking without additional actuation is achieved by causing intentional self-collision between the tails of neighboring modules; this becomes a challenge when group swimming as one co...
