Modeling and control of a self-assembled robotic swimmer

Self-Organised Robot Systems

Orduno, Carlos ; Bretl ; Timothy W.

关键词: Self-Organised Robot Systems;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/31200/Orduno_Carlos.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

This thesis presents a control strategy based on model learning for a self-assembled robotic “swimmer”. The swimmer forms when a liquid suspension of ferro-magnetic micro-particles and a non-magnetic bead are exposed to an alternating magnetic field that is oriented per- pendicular to the liquid surface [1]. It can be steered by modulating the frequency of the alternating field. We model the swimmer as a unicycle and learn a mapping from frequency to forward speed and turning rate using locally-weighted projection regression. We apply iterative linear quadratic regulation with a receding horizon to track motion primitives that could be used for path following. Hardware experiments validate our approach.