Feedback design for 3D movement of an Eel-like robot

Mazen Alamir (1) , Maher El Rafei (1) , Ghizlane Hafidi (2) , Nicolas Marchand (1) , Mathieu Porez (3) , Frédéric Boyer (3)

1 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité
2 GIPSA-lab - Grenoble Images Parole Signal Automatique
3 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

This paper relates recent advances in the design of feedback laws for the 3D movement of an Eel-like robot. Such a robot is under construction in the context of a national French robotic project. The proposed feedback enables the tracking of a desired 3D position of the Eel head as well as the stabilization of the rolling angle. A velocity controller is also proposed. The controller is tested on a recently developed complete 3D model in order to assess its efficiency in tackling 3D manoeuvres.

Domaines: Automatique / Robotique

Mazen Alamir, Maher El Rafei, Ghizlane Hafidi, Nicolas Marchand, Mathieu Porez, et al.. Feedback design for 3D movement of an Eel-like robot. ICRA 2007 - IEEE International Conference on Robotics and Automation, Apr 2007, Rome, Italy. ⟨hal-00124331⟩