Design and kinematic analysis of an amphibious spherical robot

Guo, Shuxiang; Mao, Shilian; Shi, Liwei; Li, Maoxun

doi:10.1109/icma.2012.6285687

Cited by 32 publications

(7 citation statements)

References 19 publications

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“…In project practice PID control still take the dominated place. The principle of PID control is that to constitute a control volume using proportion, integration and differential of error by choosing proper linear combination in order to control the target, as shown in Fig.6 [7].…”

Section: Description Of Motion Systemmentioning

confidence: 99%

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The application of PID control in motion control of the spherical amphibious robot

Wang

Guo

Shi

et al. 2014

2014 IEEE International Conference on Mechatronics and Automation

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Considering the complicated disturbance in amphibious circumstance, usually it is difficult to solve the control problem for a complex system of an amphibious robot. This paper proposes a neutral network PID controller which has a great advantage on processing online for an amphibious spherical robot due to their nonlinear dynamics. We overcome the difficulties by combining the neutral network method and traditional PID control to reach the goal of tracking online fast. The stability of our controller is analyzed according to the Lyapunov method. The performance of the proposed controller is investigated in simulation. The controller can be easily realized in hardware as for its simple structure. The linear velocity of the spherical robot can be controlled to precisely track any desired trajectory in robot-fixed coordinate system. The effectiveness of the controller is verified by simulation results based on neutral network PID. It realizes a better control on spherical amphibious robot by heading experiments in water.

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Section: Description Of Motion Systemmentioning

confidence: 99%

“…The principle of PID control is that to constitute a control volume using proportion, integration and differential of error by choosing proper linear combination in order to control the target [7]. The control law for PID controller is shown in Eq.…”

Section: A Pid Controlmentioning

confidence: 99%

The application of PID control in motion control of the spherical amphibious robot

Wang

Guo

Shi

et al. 2014

2014 IEEE International Conference on Mechatronics and Automation

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“…Algunos robots, presentados en [18] y [19], no tienen estructuras bioinspiradas, no obstante, se pueden desplazar en ambientes acuáti-cos y terrestres.…”

Section: Introductionunclassified

Robot Salamandra Anfibio Con Locomoción Bioinspirada

Aguilar

Luna

Moya

et al. 2016

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Recibido: 01-11-2016, aprobado tras revisión: 20-12-2016 Forma sugerida de citación: Luna, M.; Moya, J.; Aguilar, W.; Abad, V. (2017). «Robot salamandra anfibio con locomoción bioinspirada». Ingenius. N.• 17, (Enero-Junio). pp. 51-59. ISSN: 1390-650X. Resumen AbstractEn este artículo se presenta el desarrollo de un robot anfibio con una dinámica de movimiento bioinspirada en la locomoción de la salamandra (Cryptobranchidae). El robot es teleoperado mediante una aplicación para dispositivos móviles (Smartphones, tablets, etc.). Se propone una estructura que permita al robot llevar a cabo dos acciones: caminar y nadar. Los movimientos de una salamandra real se han estimado basándose en una cámara cenital y se ha diseñado un algoritmo de control de locomoción que replique esos movimientos. El desempeño del robot se ha evaluado utilizando como métrica el error cuadrático medio entre el movimiento del robot y de la salamandra obteniendo errores menores al 5 % en los ángulos de movimiento de la espina dorsal.This paper presents the development of an amphibious robot with a motion dynamics bioinspired on the locomotion of the salamander (Cryptobranchidae). The robot is teleoperated by an application for handled devices. We propose a structure to perform two different motions: walk and swim. We extract the movements from a real salamander by a zenith camera, and a locomotion control algorithm is designed to reply this movements. We evaluate the performance of the robot in comparison with the real animal movements using the RMSE (Root Mean Square Error) as metric of evaluation. We obtain errors less than 5 % in the angles of backbone movement.

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“…S.Watson and P.N.Green develop a tiny autonomous underwater robot MKV. The sphere diameter of autonomous underwater robot is 0.15 meters, the propulsion system use six propeller, MKV has four degrees of freedom of movement [2]- [4]. Hawaii University has been developed a spherical underwater robot: Omni-Directional Intelligent Navigator, This spherical robot is mainly used for monitoring the water environment and underwater operations.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy PID algorithm-based motion control for the spherical amphibious robot

Guo

2015

2015 IEEE International Conference on Mechatronics and Automation (ICMA)

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Fuzzy control and PID control are often used in control area. However, a single Fuzzy control or PID control can not satisfy the need of the rising complexity and precision of control systems. Considering the disturbance in amphibious spherical robot, it is difficult to solve the control problem for a complex system of an amphibious spherical robot. This paper deeply analyzed the advantages and the disadvantages of Fuzzy control and PID control, and proposed a new Fuzzy PID control combined Fuzzy control and PID control. The simulation results show that the method of Fuzzy PID can effectively reduce the overshoot of the control system, accelerate the response speed, and shorten the adjustment time, In this way, The system can reduce the shock of amphibious spherical robot, and improve the stability, thus, the method can enhance the dynamic performance of the amphibious spherical robot. 1583 978-1-4799-7098-8/15/$31.00 Index Termsmphibious spherical robot, Fuzzy PID control, PID control, ynamic performance

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Design and kinematic analysis of an amphibious spherical robot

Cited by 32 publications

References 19 publications

The application of PID control in motion control of the spherical amphibious robot

The application of PID control in motion control of the spherical amphibious robot

Robot Salamandra Anfibio Con Locomoción Bioinspirada

Fuzzy PID algorithm-based motion control for the spherical amphibious robot

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