On a Miniature Free-swimming Robotic Fish with Multiple Sensors
文献类型：期刊论文
| 作者 | Yu, Junzhi 1; Chen, Shifeng 1; Wu, Zhengxing 1; Wang, Weibing 2; Wu, Zhengxing ; Yu, Junzhi
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| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
 |
| 出版日期 | 2016-04-01 |
| 卷号 | 13 |
| 关键词 | Bio-inspired Robot Swimming Control Robotic Fish Multi-sensor Underwater Robotics |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | Bio-inspired robotic fish hold strong promise for underwater missions. This paper deals with the design and control issues of a miniature free-swimming robotic fish with multiple sensors. Specifically, a synthesized mechanical design scheme mainly relying on a two-link serial mechanism and a pair of mechanical pectoral fins is first presented. Next, a bio-inspired Central Pattern Generator (CPG) based control method aided by feedback information from multiple sensors of various types to achieve three-dimensional swimming is proposed. Finally, experimental results on the 35-centimetre-long robotic fish verify the efficacy of the proposed mechatronic design and control methods. It is found that the CPG control combined withsensory information greatly contributes to swimming ability and intelligence of the robotic fish. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | CENTRAL PATTERN GENERATOR ; LOCOMOTION ; IMPLEMENTATION ; OSCILLATORS ; MODELS |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000374338300002 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/12204]  |
| 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 |
| 通讯作者 | Yu, Junzhi |
| 作者单位 | 1. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China 2. Machine and Electricity Engineering College, Shihezi University, Shihezi, China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi ,Chen, Shifeng ,Wu, Zhengxing ,et al. On a Miniature Free-swimming Robotic Fish with Multiple Sensors[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2016,13. |
| APA | Yu, Junzhi ,Chen, Shifeng ,Wu, Zhengxing ,Wang, Weibing ,Wu, Zhengxing,&Yu, Junzhi.(2016).On a Miniature Free-swimming Robotic Fish with Multiple Sensors.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,13. |
| MLA | Yu, Junzhi ,et al."On a Miniature Free-swimming Robotic Fish with Multiple Sensors".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 13(2016). |
入库方式： OAI收割
来源：自动化研究所
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