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Swimming eel-like robot : design improvement and control

Bua, Laurent ; Magis, Bastien
(2018)

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Bua_36671300_Magis_44871300_2018.pdf
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Details

Supervisors
Ronsse, Renaud ; Chatelain, Philippe
Faculty
Ecole polytechnique de Louvain
Degree label
Master [120] : ingénieur civil électromécanicien
Abstract
enThis master thesis continues a project launched last year, namely the implementation of an anguilliform robot. The goal is to improve two key points of the prototype : stability and control. The stability has been improved by adding a float designed thanks to a mesh-based code that analyses the rolling stability of an immersed body. The second part of this master thesis is the control. On one hand, the analysis of the anguilliform swimming and the adequate command, and on the other, a closed-loop trajectory control based on a QR code tracking system. Finally, pool tests were done to validate the stability and control of the prototype. Those tests were also usefull to find swimming conditions that maximize the longitudinal velocity.