Design and Control of a Single-Motor-Actuated Robotic Fish Capable of Fast Swimming and Maneuverability
文献类型：期刊论文
| 作者 | Yu, Junzhi1,2 ; Zhang, Cheng1; Liu, Lianqing2
|
| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2016-06-01 |
| 卷号 | 21期号:3页码:1711-1719 |
| 关键词 | Bioinspired robot control engineering maneuverability mechanical design swimming robot |
| 英文摘要 | This paper deals with a novel fast swimming robotic fish capable of high maneuverability and yet with less joints. On the basis of prior work on a single-motoractuated miniature robotic fish, we mainly stress three aspects: mechanical design, motion analysis, and posture control to strike a tradeoff between speediness and maneuverability. Specifically, an improved mechanical structure endows the robot with large thrust and increased range of movements. Motion analysis offers useful guidance to parameter settings of steady swimming. Besides, sine-based functions responsible for generating travelingwaves in conjunction with an analysis of parameter variation of oscillation amplitude of the fish tail serve the purpose to determine the posture of the robotic fish. Underwater tests on straight swimming and different turns demonstrate the effectiveness of the proposed methods and mechatronic designs. Remarkably, the robot attained amaximumswimming speed of 1.14 m/s (corresponding to 3.07 body lengths per second) in forward swimming, a turning rate of approximately 90 degrees/s in normal turns, and a turning rate of approximately 63.8 degrees/s in hybrid turns. |
| WOS标题词 | Science & Technology ; Technology |
| 学科主题 | 控制理论与控制工程（先进机器人控制） |
| 类目[WOS] | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 关键词[WOS] | LOCOMOTION ; TRACKING ; SYSTEMS ; MODELS |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000375609900051 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/11498]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | 1.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China 2.Chinese Acad Sci, State Key Lab Robot, Shenyang Inst Automat, Shenyang 110016, Peoples R China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Zhang, Cheng,Liu, Lianqing. Design and Control of a Single-Motor-Actuated Robotic Fish Capable of Fast Swimming and Maneuverability[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2016,21(3):1711-1719. |
| APA | Yu, Junzhi,Zhang, Cheng,&Liu, Lianqing.(2016).Design and Control of a Single-Motor-Actuated Robotic Fish Capable of Fast Swimming and Maneuverability.IEEE-ASME TRANSACTIONS ON MECHATRONICS,21(3),1711-1719. |
| MLA | Yu, Junzhi,et al."Design and Control of a Single-Motor-Actuated Robotic Fish Capable of Fast Swimming and Maneuverability".IEEE-ASME TRANSACTIONS ON MECHATRONICS 21.3(2016):1711-1719. |
入库方式： OAI收割
来源：自动化研究所
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