We describe motion primitives and closed-loop control for a unique low-cost single-motor oscillating aquatic system: the Modboat. The Modboat is driven by the conservation of angular momentum, which is used to actuate two passive flippers in a sequential paddling motion for propulsion and steering. We propose a discrete description of the motion of the system, which oscillates around desired trajectories, and propose two motion primitives — one frequency based and one pause-based — with associated closed-loop controllers. Testing is performed to evaluate each motion primitive, the merits of each are presented, and the pause-based primitive is shown to be significantly superior. Finally, waypoint following is implemented using both primitives and shown to be significantly more successful using the pause-based motion primitive.

中文翻译：

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暂停为欠驱动摆动游泳机器人提供有效控制

我们描述了独特的低成本单电机振荡水上系统的运动原语和闭环控制：Modboat。Modboat 由角动量守恒驱动，角动量守恒用于驱动两个被动鳍状肢，以连续的划桨运动进行推进和转向。我们提出了系统运动的离散描述，它围绕所需的轨迹振荡，并提出了两种运动原语——一种基于频率，一种基于暂停——以及相关的闭环控制器。执行测试以评估每个运动原语，展示每个原语的优点，并且显示基于暂停的原语明显优越。最后，航路点跟随是使用两种原语实现的，并且使用基于暂停的运动原语显示出更加成功。