A CPG design of considering the attitude for the propulsion control of a Manta robot

Masaaki Ikeda; Shigeki Hikasa; Keigo Watanabe; Isaku Nagai

doi:10.1109/IECON.2013.6700181

A CPG design of considering the attitude for the propulsion control of a Manta robot

Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

Abstract

In recent years, autonomous unmanned underwater vehicles (AUVs) for underwater propulsion ecology investigation attracts attention from underwater researchers. Among these AUVs, one mimicked the fish is being developed, because of the low sound noise and the rapid turning predominance. The central pattern generators (CPGs), which is a neural circuit for a periodic motion generation of a living thing, is being applied to the control of a mobile robot. In this paper, we design a CPG in consideration of the attitude of a Manta robot for the propulsion control of it. The numerical model of the CPG uses the Matsuoka model. The effectiveness of the proposed technique is shown by numerical simulations.

Original language	English
Title of host publication	Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages	6354-6358
Number of pages	5
DOIs	https://doi.org/10.1109/IECON.2013.6700181
Publication status	Published - Dec 1 2013
Event	39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria Duration: Nov 10 2013 → Nov 14 2013

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Other

Other	39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Country/Territory	Austria
City	Vienna
Period	11/10/13 → 11/14/13

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2013.6700181

Cite this

A CPG design of considering the attitude for the propulsion control of a Manta robot. / Ikeda, Masaaki; Hikasa, Shigeki; Watanabe, Keigo et al.
Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society. 2013. p. 6354-6358 6700181 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ikeda, M, Hikasa, S, Watanabe, K & Nagai, I 2013, A CPG design of considering the attitude for the propulsion control of a Manta robot. in Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society., 6700181, IECON Proceedings (Industrial Electronics Conference), pp. 6354-6358, 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013, Vienna, Austria, 11/10/13. https://doi.org/10.1109/IECON.2013.6700181

@inproceedings{5cb15c1b13b54197adc3c04fef54b49f,

title = "A CPG design of considering the attitude for the propulsion control of a Manta robot",

abstract = "In recent years, autonomous unmanned underwater vehicles (AUVs) for underwater propulsion ecology investigation attracts attention from underwater researchers. Among these AUVs, one mimicked the fish is being developed, because of the low sound noise and the rapid turning predominance. The central pattern generators (CPGs), which is a neural circuit for a periodic motion generation of a living thing, is being applied to the control of a mobile robot. In this paper, we design a CPG in consideration of the attitude of a Manta robot for the propulsion control of it. The numerical model of the CPG uses the Matsuoka model. The effectiveness of the proposed technique is shown by numerical simulations.",

author = "Masaaki Ikeda and Shigeki Hikasa and Keigo Watanabe and Isaku Nagai",

year = "2013",

month = dec,

day = "1",

doi = "10.1109/IECON.2013.6700181",

language = "English",

isbn = "9781479902248",

series = "IECON Proceedings (Industrial Electronics Conference)",

pages = "6354--6358",

booktitle = "Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society",

note = "39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 ; Conference date: 10-11-2013 Through 14-11-2013",

}

TY - GEN

T1 - A CPG design of considering the attitude for the propulsion control of a Manta robot

AU - Ikeda, Masaaki

AU - Hikasa, Shigeki

AU - Watanabe, Keigo

AU - Nagai, Isaku

PY - 2013/12/1

Y1 - 2013/12/1

N2 - In recent years, autonomous unmanned underwater vehicles (AUVs) for underwater propulsion ecology investigation attracts attention from underwater researchers. Among these AUVs, one mimicked the fish is being developed, because of the low sound noise and the rapid turning predominance. The central pattern generators (CPGs), which is a neural circuit for a periodic motion generation of a living thing, is being applied to the control of a mobile robot. In this paper, we design a CPG in consideration of the attitude of a Manta robot for the propulsion control of it. The numerical model of the CPG uses the Matsuoka model. The effectiveness of the proposed technique is shown by numerical simulations.

AB - In recent years, autonomous unmanned underwater vehicles (AUVs) for underwater propulsion ecology investigation attracts attention from underwater researchers. Among these AUVs, one mimicked the fish is being developed, because of the low sound noise and the rapid turning predominance. The central pattern generators (CPGs), which is a neural circuit for a periodic motion generation of a living thing, is being applied to the control of a mobile robot. In this paper, we design a CPG in consideration of the attitude of a Manta robot for the propulsion control of it. The numerical model of the CPG uses the Matsuoka model. The effectiveness of the proposed technique is shown by numerical simulations.

UR - http://www.scopus.com/inward/record.url?scp=84893630071&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84893630071&partnerID=8YFLogxK

U2 - 10.1109/IECON.2013.6700181

DO - 10.1109/IECON.2013.6700181

M3 - Conference contribution

AN - SCOPUS:84893630071

SN - 9781479902248

T3 - IECON Proceedings (Industrial Electronics Conference)

SP - 6354

EP - 6358

BT - Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society

T2 - 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013

Y2 - 10 November 2013 through 14 November 2013

ER -

A CPG design of considering the attitude for the propulsion control of a Manta robot

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this