Thrust Direction Control of an Underactuated Oscillating Swimming Robot
Gedaliah Knizhnik,Mark Yim,Gedaliah Knizhnik,Mark Yim
The Modboat is an autonomous surface robot that turns the oscillation of a single motor into a controlled paddling motion through passive flippers. Inertial control methods developed in prior work can successfully drive the Modboat along trajectories and enable docking to neighboring modules, but have a non-constant cycle time and cannot react to dynamic environments. In this work we present a thr...
