模块化欠驱动摆动游泳机器人的对接与出坞
Docking and Undocking a Modular Underactuated Oscillating Swimming Robot
摘要：
我们描述了一个对接机制和策略，允许模块化自组装的Modboat：一个便宜的欠驱动振荡游泳机器人由一个单一的电机供电。由于推进是通过摆动实现的，因此只能在平均值上控制方向;这使得对接复杂化，对接需要精确的位置和方向控制。鉴于这些挑战，我们提出了一个对接策略和运动原语控制方向，并表明，这种策略可以成功对接在多种配置。此外，我们还证明了Modboat也能够脱离并改变其码头配置，而无需任何额外的驱动。这在类似的模块化机器人系统中是独一无二的。
英文摘要：
We describe a docking mechanism and strategy to allow modular self-assembly for the Modboat: an inexpensive underactuated oscillating swimming robot powered by a single motor. Because propulsion is achieved through oscillation, orientation can be controlled only in the average; this complicates docking, which requires precise position and orientation control. Given these challenges, we present a docking strategy and a motion primitive for controlling orientation, and show that this strategy allows successful docking in multiple configurations. Moreover, we demonstrate that the Modboat is also capable of undocking and changing its dock configuration, all without any additional actuation. This is unique among similar modular robotic systems.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
