Three-Dimensional Movement in Water of the Dolphin Robot (2nd Report, Control Between Two Postures by Combination Motion of Roll and Pitch)

摘要

The purpose of this study is to realize the three-dimensional maneuverability of high speed swimming animals such as dolphins by a biomimetic robot. In the preceding paper, a dolphin robot whose length is 1m was developed, and the loop-the-loop motion in the water was performed. In this paper, a reference trajectory from a start posture to an end posture was firstly planned as a combination motion of roll and pitch. Next, a simulation method to analyze the three-dimensional dynamics of the dolphin robot was developed, and the feedback control for roll, pitch and yaw was examined by the simulation. It was found that the proposed feedback control was sufficient for tracking the reference trajectory in the simulation. In addition, swimming experiments were conducted to examine the validity of the simulation method and the control algorithm. The control performance in the experiments was found to be satisfactory although the optimal feedback gain became somewhat different value from that in the simulation