对接改装艇平行格架的幅值控制
Amplitude Control for Parallel Lattices of Docked Modboats
摘要：
Modboat是一种低成本、欠驱动的模块化机器人，能够在水面游泳。它能够单独游泳，停靠在其他Modboats上，并仅使用一个电机和两个被动鳍状肢从它们中脱离。通过在相邻模块的尾部之间引起有意的自碰撞来实现不需要额外驱动的出坞;当希望作为一个连接的组件进行组游泳时，这成为一个挑战。在这项工作中，我们开发了一种控制策略，允许Modboats的平行晶格作为一个单一的单元游泳，这通常需要完整的模块。我们表明，控制策略是保证，以避免无意的脱离和晶格内的内力最小化。实验验证表明，该控制器性能良好，对各种尺寸的网格具有一致性。在游泳时保持可控性，但纯偏航控制导致横向运动，不能抵消所提出的框架。
英文摘要：
The Modboat is a low-cost, underactuated, modular robot capable of surface swimming. It is able to swim individually, dock to other Modboats, and undock from them using only a single motor and two passive flippers. Undocking without additional actuation is achieved by causing intentional self-collision between the tails of neighboring modules; this becomes a challenge when group swimming as one connected component is desirable. In this work, we develop a control strategy to allow parallel lattices of Modboats to swim as a single unit, which conventionally requires holonomic modules. We show that the control strategy is guaranteed to avoid unintentional undocking and minimizes internal forces within the lattice. Experimental verification shows that the controller performs well and is consistent for lattices of various sizes. Controllability is maintained while swimming, but pure yaw control causes lateral movement that cannot be counteracted by the presented framework.
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。
