Docking and Undocking a Modular Underactuated Oscillating Swimming Robot
Gedaliah Knizhnik Mark Yim Gedaliah Knizhnik Mark Yim
We describe a docking mechanism and strategy to allow modular self-assembly for the Modboat: an inexpensive, underactuated, oscillating, surface-swimming robot powered by a single motor. Because propulsion is achieved through oscillation, orientation can be controlled only in the average; this complicates docking, which requires precise position and orientation control. Given these challenges, we ...