Exploring Optimal Gaits for Planar Carangiform Robot Fish Locomotion
| Authors: | Seo Keehong, Pohang University of Science and Technology, Korea, Republic of
Murray Richard M., California Institute of Technology, United States
Lee Jin S., Pohang University of Science and Technology, Korea, Republic of |
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| Topic: | 2.4 Optimal Control |
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| Session: | Optimal Control Applications |
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| Keywords: | Software tools, Optimization problems, Numerical algorithms, Open-loop control systems, Splines, Robot control |
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Abstract
This paper presents a strategy to find an optimal gait for the model of the biomimetic swimmer developed at Caltech to transit forward minimizing control effort, or the integral of squared angular acceleration of the two joints. According to the previous works, it is accepted that a series of sinusoidal-type gaits generates forward transition. Using this sinusoidal gaits as initial guess for optimization, improved gaits are found using a numerical optimization software, NLPP Toolbox for Matlab. The performance of the determined gaits is tested using the Simulink model.
