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Mechanics and Control of a Terrestrial Vehicle Exploiting a Nonholonomic Constraint for Fishlike Locomotion

[+] Author Affiliations
Tony Dear, Matthew Travers, Howie Choset

Carnegie Mellon University, Pittsburgh, PA

Scott David Kelly

University of North Carolina at Charlotte, Charlotte, NC

Paper No. DSCC2013-3941, pp. V002T33A004; 5 pages
doi:10.1115/DSCC2013-3941
From:
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5613-0
  • Copyright © 2013 by ASME

abstract

We present a novel mechanical system, the “landfish,” which takes advantage of a combination of articulation and a nonholonomic constraint to exhibit fishlike locomotion. We apply geometric mechanics techniques to establish the equations of motion in terms of the system’s nonholonomic momentum and analyze the system’s equilibrium properties. Finally, we demonstrate its locomotion capabilities under several controllers, including heading and joint velocity control.

Copyright © 2013 by ASME

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