Optimal design and motion control of biomimetic robotic fish
文献类型：期刊论文
| 作者 | Yu JunZhi1 ; Wang Long2; Zhao Wei1; Tan Min1; Yu, Junzhi
|
| 刊名 | SCIENCE IN CHINA SERIES F-INFORMATION SCIENCES
 |
| 出版日期 | 2008-05-01 |
| 卷号 | 51期号:5页码:535-549 |
| 关键词 | biomimetic robotic fish optimization design mechatronics motion control central pattern generator (CPG) |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | This paper is concerned with the design, optimization, and motion control of a radiocontrolled, multi-link, free-swimming biomimetic robotic fish based on an optimized kinematic and dynamic model of fish swimming. The performance of the robotic fish is determined by both the fish’s morphological characteristics and kinematic parameters. By applying ichthyologic theories of propulsion, a design framework that takes into consideration both mechatronic constraints in physical realization and feasibility of control methods is presented, under which a multiple linked robotic fish that integrates both the carangiform and anguilliform swimming modes can be easily developed. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-lengthratios are numerically calculated by an improved constrained cyclic variable method, which are successfully applied to a series of real robotic fishes. The rhythmic movements of swimming are driven by a central pattern generator (CPG) based on nonlinear oscillations, and up-and-down motion by regulation the rotating angle of pectoral fins. The experimental results verify that the presented scheme and method are effective in design and implementation. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Information Systems |
| 研究领域[WOS] | Computer Science |
| 关键词[WOS] | ANGUILLIFORM LOCOMOTION ; SWIMMING MACHINE ; PERFORMANCE ; VEHICLES ; SPEED |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000255985100008 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/9650]  |
| 专题 | 自动化研究所_09年以前成果 |
| 通讯作者 | Yu, Junzhi |
| 作者单位 | 1.Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy
of Sciences, Beijing 100080, China 2.Department of Mechanics and Space Technologies, Peking University, Beijing 100871, China |
| 推荐引用方式 GB/T 7714 | Yu JunZhi,Wang Long,Zhao Wei,et al. Optimal design and motion control of biomimetic robotic fish[J]. SCIENCE IN CHINA SERIES F-INFORMATION SCIENCES,2008,51(5):535-549. |
| APA | Yu JunZhi,Wang Long,Zhao Wei,Tan Min,&Yu, Junzhi.(2008).Optimal design and motion control of biomimetic robotic fish.SCIENCE IN CHINA SERIES F-INFORMATION SCIENCES,51(5),535-549. |
| MLA | Yu JunZhi,et al."Optimal design and motion control of biomimetic robotic fish".SCIENCE IN CHINA SERIES F-INFORMATION SCIENCES 51.5(2008):535-549. |
入库方式： OAI收割
来源：自动化研究所
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