Control and coordination of multiple biomimetic robotic fish
文献类型：期刊论文
| 作者 | Yu, Junzhi1 ; Wang, Long2; Shao, Jinyan2; Tan, Min1
|
| 刊名 | IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
 |
| 出版日期 | 2007 |
| 卷号 | 15期号:1页码:176-183 |
| 关键词 | coordinated control dynamic analysis hierarchical architecture modeling robotic fish |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | Investigation in biomimetic robotic fish is a multidisciplinary area entirely integrating hydrodynamics-based control and robotic technology. In this brief, grounded on an optimized kinematic and dynamic model of robotic fish which synthesizes both the carangiform and anguilliform swimming modes, a free-swimming, multilink robotic fish and its motion control are designed. Employing top-down design approach, we propose a hierarchical architecture for an artificial multifish system which consists of five levels: task level, role level, behavior level, action level, and controller level, to formalize the processes from task decomposition, role assignments, and control performance. A vision-based, closed-loop experimental system for multiple robotic fish is finally constructed to verify the proposed architecture. The running experiments of fish versus man primarily show that much greater capabilities are exhibited when the fish try to cooperate with each other. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Electrical & Electronic |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 关键词[WOS] | LOCOMOTION ; FRAMEWORK |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000243342200018 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/9505]  |
| 专题 | 自动化研究所_09年以前成果 |
| 作者单位 | 1. Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China 2. Center for Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Wang, Long,Shao, Jinyan,et al. Control and coordination of multiple biomimetic robotic fish[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2007,15(1):176-183. |
| APA | Yu, Junzhi,Wang, Long,Shao, Jinyan,&Tan, Min.(2007).Control and coordination of multiple biomimetic robotic fish.IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,15(1),176-183. |
| MLA | Yu, Junzhi,et al."Control and coordination of multiple biomimetic robotic fish".IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 15.1(2007):176-183. |
入库方式： OAI收割
来源：自动化研究所
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