생체모방 수중 로봇(CALEB10)의 Pitch 모션 분석 및 제어 방법에 관한 연구

Abstract

pitch motion that is caused by the leg’s location in the neutral buoyancy state and applied them to simulator. And we developed the control algorithm in order to control the pitch motion to desired value. The core of the algorithm is the control of the front and rear leg’s hip-pitch joints in the sections of power stroke and recovery stroke. We verified the control algorithm through the approximalenvironment simulation which is an analysis of CALEB10’s pitch motion dynamically.