论文标题
停靠式船的平行格子的振幅控制
Amplitude Control for Parallel Lattices of Docked Modboats
论文作者
论文摘要
Modboat是一种低成本，不足的模块化机器人，能够表面游泳。它可以单独游泳，将其停靠到其他Modboats，并仅使用单个电动机和两个被动脚弹器从它们中解开。通过在相邻模块的尾巴之间引起故意自我碰撞，可以实现无额外的驱动的撤消；当团队游泳是一个连接的组件时，这将成为一个挑战。在这项工作中，我们制定了一种控制策略，以使平行的Modboats的平行晶格可以作为一个单元游泳，该单元通常需要自动模块。我们表明，保证控制策略避免了无意的悬而未决，并最大程度地减少了晶格内的内力。实验验证表明，控制器的性能很好，并且对于各种尺寸的晶格是一致的。游泳时保持可控性，但是纯偏航控制会导致侧向运动，而横向运动不能被提出的框架抵消。
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 connected component is desirable. In this work, we develop a control strategy to allow parallel lattices of Modboats to swim as a single unit, which conventionally requires holonomic modules. We show that the control strategy is guaranteed to avoid unintentional undocking and minimizes internal forces within the lattice. Experimental verification shows that the controller performs well and is consistent for lattices of various sizes. Controllability is maintained while swimming, but pure yaw control causes lateral movement that cannot be counteracted by the presented framework.
