IEEE Robotics & Automation Magazine - March 2016 - 53

V sf =

po x (t end) 2 + po y (t end) 2

4

Simulation Results

3.5

Experimental Results

3
2.5
2

px (m)

coefficients as mentioned earlier and a = 30c, ~ = 120c/s,
d = 30c, and z 0 = 0 for lateral undulation and eel-like motion. The simulated and the experimental results are expressed in the global frame with the origin being at (0, 0)
for visualization purposes. This makes the comparison of
the simulated and the experimental results clearer, without
changing the response of the system. From Figures 7(a)
and 8(a), we see that the robot managed to transverse the
same distance in the x-direction both in simulations and in
experiments. The oscillations in the y-direction (Figures 7(b) and 8(b)) are larger in the experimental trial compared to the simulated results. This is mostly due to the
inaccuracies of the sensor measurements in the experimental setup. The achieved forward steady-state velocity was
calculated for the simulated and the physical robot by using

1.5
1
0.5
0

- 0.5

0

5

10

15

20

25

30

35

40

45

30

35

40

45

Time (s)
(a)

(27)

2

Simulation Results

1.5

and

Experimental Results

1
py (m)

6

0

- 0.5

Simulation Results

5

px (m)

0.5

-1

Experimental Results

4

- 1.5

3

-2

0

5

10

15

20

2

(b)

1
0
-1

25

Time (s)

0

5

10

15

20

25

30

35

40

Figure 8. Eel-like motion: the comparison results of the simulated
and real robot for the gait parameters a = 30c, ~ = 120c/s, d =
30c and z 0 = 0. (a) The position along the path p x . (b) The
position along the path p y .

Time (s)
(a)
2

Table 2. The fluid parameter identification
for lateral undulation.

Simulation Results

a

~

d

V fs

V fr

Error %

30

120

20

0.1207

0.1275

5.37

30

120

30

0.1275

0.1288

1.01

0.5

30

120

50

0.0851

0.0937

9.11

0

30

110

30

0.1153

0.1281

10.03

-0.5

30

130

30

0.1252

0.1179

6.21

1.5

Experimental Results

py (m)

1

-1
-1.5
-2

0

5

10

15

20

25

30

35

40

Table 3. The fluid parameter identification
for eel-like motion.

Time (s)

a

~

d

V fs

V fr

Error %

(b)

30

120

20

0.0742

0.0756

1.88

30

120

30

0.0897

0.0894

0.33

30

120

50

0.0723

0.0738

1.98

30

110

30

0.0867

0.0996

12.92

30

130

30

0.0927

0.0885

4.81

Figure 7. Lateral undulation: the comparison results of the
simulated and real robot for the gait parameters a = 30c,
~ = 120c/s, d = 30c, and z 0 = 0. (a) The position along the path
p x . (b) The position along the path p y .

march 2016

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

53



Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - March 2016

IEEE Robotics & Automation Magazine - March 2016 - Cover1
IEEE Robotics & Automation Magazine - March 2016 - Cover2
IEEE Robotics & Automation Magazine - March 2016 - 1
IEEE Robotics & Automation Magazine - March 2016 - 2
IEEE Robotics & Automation Magazine - March 2016 - 3
IEEE Robotics & Automation Magazine - March 2016 - 4
IEEE Robotics & Automation Magazine - March 2016 - 5
IEEE Robotics & Automation Magazine - March 2016 - 6
IEEE Robotics & Automation Magazine - March 2016 - 7
IEEE Robotics & Automation Magazine - March 2016 - 8
IEEE Robotics & Automation Magazine - March 2016 - 9
IEEE Robotics & Automation Magazine - March 2016 - 10
IEEE Robotics & Automation Magazine - March 2016 - 11
IEEE Robotics & Automation Magazine - March 2016 - 12
IEEE Robotics & Automation Magazine - March 2016 - 13
IEEE Robotics & Automation Magazine - March 2016 - 14
IEEE Robotics & Automation Magazine - March 2016 - 15
IEEE Robotics & Automation Magazine - March 2016 - 16
IEEE Robotics & Automation Magazine - March 2016 - 17
IEEE Robotics & Automation Magazine - March 2016 - 18
IEEE Robotics & Automation Magazine - March 2016 - 19
IEEE Robotics & Automation Magazine - March 2016 - 20
IEEE Robotics & Automation Magazine - March 2016 - 21
IEEE Robotics & Automation Magazine - March 2016 - 22
IEEE Robotics & Automation Magazine - March 2016 - 23
IEEE Robotics & Automation Magazine - March 2016 - 24
IEEE Robotics & Automation Magazine - March 2016 - 25
IEEE Robotics & Automation Magazine - March 2016 - 26
IEEE Robotics & Automation Magazine - March 2016 - 27
IEEE Robotics & Automation Magazine - March 2016 - 28
IEEE Robotics & Automation Magazine - March 2016 - 29
IEEE Robotics & Automation Magazine - March 2016 - 30
IEEE Robotics & Automation Magazine - March 2016 - 31
IEEE Robotics & Automation Magazine - March 2016 - 32
IEEE Robotics & Automation Magazine - March 2016 - 33
IEEE Robotics & Automation Magazine - March 2016 - 34
IEEE Robotics & Automation Magazine - March 2016 - 35
IEEE Robotics & Automation Magazine - March 2016 - 36
IEEE Robotics & Automation Magazine - March 2016 - 37
IEEE Robotics & Automation Magazine - March 2016 - 38
IEEE Robotics & Automation Magazine - March 2016 - 39
IEEE Robotics & Automation Magazine - March 2016 - 40
IEEE Robotics & Automation Magazine - March 2016 - 41
IEEE Robotics & Automation Magazine - March 2016 - 42
IEEE Robotics & Automation Magazine - March 2016 - 43
IEEE Robotics & Automation Magazine - March 2016 - 44
IEEE Robotics & Automation Magazine - March 2016 - 45
IEEE Robotics & Automation Magazine - March 2016 - 46
IEEE Robotics & Automation Magazine - March 2016 - 47
IEEE Robotics & Automation Magazine - March 2016 - 48
IEEE Robotics & Automation Magazine - March 2016 - 49
IEEE Robotics & Automation Magazine - March 2016 - 50
IEEE Robotics & Automation Magazine - March 2016 - 51
IEEE Robotics & Automation Magazine - March 2016 - 52
IEEE Robotics & Automation Magazine - March 2016 - 53
IEEE Robotics & Automation Magazine - March 2016 - 54
IEEE Robotics & Automation Magazine - March 2016 - 55
IEEE Robotics & Automation Magazine - March 2016 - 56
IEEE Robotics & Automation Magazine - March 2016 - 57
IEEE Robotics & Automation Magazine - March 2016 - 58
IEEE Robotics & Automation Magazine - March 2016 - 59
IEEE Robotics & Automation Magazine - March 2016 - 60
IEEE Robotics & Automation Magazine - March 2016 - 61
IEEE Robotics & Automation Magazine - March 2016 - 62
IEEE Robotics & Automation Magazine - March 2016 - 63
IEEE Robotics & Automation Magazine - March 2016 - 64
IEEE Robotics & Automation Magazine - March 2016 - 65
IEEE Robotics & Automation Magazine - March 2016 - 66
IEEE Robotics & Automation Magazine - March 2016 - 67
IEEE Robotics & Automation Magazine - March 2016 - 68
IEEE Robotics & Automation Magazine - March 2016 - 69
IEEE Robotics & Automation Magazine - March 2016 - 70
IEEE Robotics & Automation Magazine - March 2016 - 71
IEEE Robotics & Automation Magazine - March 2016 - 72
IEEE Robotics & Automation Magazine - March 2016 - 73
IEEE Robotics & Automation Magazine - March 2016 - 74
IEEE Robotics & Automation Magazine - March 2016 - 75
IEEE Robotics & Automation Magazine - March 2016 - 76
IEEE Robotics & Automation Magazine - March 2016 - 77
IEEE Robotics & Automation Magazine - March 2016 - 78
IEEE Robotics & Automation Magazine - March 2016 - 79
IEEE Robotics & Automation Magazine - March 2016 - 80
IEEE Robotics & Automation Magazine - March 2016 - 81
IEEE Robotics & Automation Magazine - March 2016 - 82
IEEE Robotics & Automation Magazine - March 2016 - 83
IEEE Robotics & Automation Magazine - March 2016 - 84
IEEE Robotics & Automation Magazine - March 2016 - 85
IEEE Robotics & Automation Magazine - March 2016 - 86
IEEE Robotics & Automation Magazine - March 2016 - 87
IEEE Robotics & Automation Magazine - March 2016 - 88
IEEE Robotics & Automation Magazine - March 2016 - 89
IEEE Robotics & Automation Magazine - March 2016 - 90
IEEE Robotics & Automation Magazine - March 2016 - 91
IEEE Robotics & Automation Magazine - March 2016 - 92
IEEE Robotics & Automation Magazine - March 2016 - 93
IEEE Robotics & Automation Magazine - March 2016 - 94
IEEE Robotics & Automation Magazine - March 2016 - 95
IEEE Robotics & Automation Magazine - March 2016 - 96
IEEE Robotics & Automation Magazine - March 2016 - 97
IEEE Robotics & Automation Magazine - March 2016 - 98
IEEE Robotics & Automation Magazine - March 2016 - 99
IEEE Robotics & Automation Magazine - March 2016 - 100
IEEE Robotics & Automation Magazine - March 2016 - 101
IEEE Robotics & Automation Magazine - March 2016 - 102
IEEE Robotics & Automation Magazine - March 2016 - 103
IEEE Robotics & Automation Magazine - March 2016 - 104
IEEE Robotics & Automation Magazine - March 2016 - 105
IEEE Robotics & Automation Magazine - March 2016 - 106
IEEE Robotics & Automation Magazine - March 2016 - 107
IEEE Robotics & Automation Magazine - March 2016 - 108
IEEE Robotics & Automation Magazine - March 2016 - 109
IEEE Robotics & Automation Magazine - March 2016 - 110
IEEE Robotics & Automation Magazine - March 2016 - 111
IEEE Robotics & Automation Magazine - March 2016 - 112
IEEE Robotics & Automation Magazine - March 2016 - 113
IEEE Robotics & Automation Magazine - March 2016 - 114
IEEE Robotics & Automation Magazine - March 2016 - 115
IEEE Robotics & Automation Magazine - March 2016 - 116
IEEE Robotics & Automation Magazine - March 2016 - 117
IEEE Robotics & Automation Magazine - March 2016 - 118
IEEE Robotics & Automation Magazine - March 2016 - 119
IEEE Robotics & Automation Magazine - March 2016 - 120
IEEE Robotics & Automation Magazine - March 2016 - Cover3
IEEE Robotics & Automation Magazine - March 2016 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com