ESPG로 생성된 유영 패턴의 추진력 조절 방법

Abstract

In previous studies, analyzed swimming patterns and suggested a method to control the propulsive force even while the swimming pattern was in progress. And a simple controller was designed to confirm whether the suggested methods were ableto control and a simulation has affirmed it. In this paper, The proposed methods apply to CALEB 10, a biomimetic underwater articulated robot and the result was verified.