An Integrative Control Method for Bio-Inspired Dolphin Leaping: Design and Experiments
文献类型：期刊论文
| 作者 | Yu, Junzhi ; Su, Zongshuai; Wu, Zhengxing; Tan, Min
|
| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
 |
| 出版日期 | 2016-05-01 |
| 卷号 | 63期号:5页码:3108-3116 |
| 关键词 | Bio-inspired dolphin leaping experimental verification integrative control pitch control |
| 英文摘要 | This paper presents the design and implementation of leaping control methods for replicating highspeed dolphin leaping behavior. With full consideration of both mechanical configuration and propulsive principle of a physical robot comprising one neck joint, two propulsive joints, and a pair of two-degrees-of-freedom (2-DOF) mechanical flippers, closed-loop pitch, roll, yaw, and depth control methods are integrated to accomplish precise attitude control. Specifically, two pitch control strategies are proposed to separately satisfy small and large pitch requirements based on the real-time feedback of the pitch angle, while the roll controller is further implemented as a proportional-integral-derivative (PID) loop. A combination of pitch and roll control is utilized to regulate the desired pitch maneuvers. Finally, a parameterized five-phase leaping control algorithm instead of Weihs's three-phase porpoising model is implemented on the self-contained real robot, enabling the examination of biological leaping phenomena which are hard to observe or measure. Latest experimental results reveal that besides high speeds exceeding the minimum exit speeds, the pitch control closely related to pitch angle and submersion depth is another critical factor contributing to effective dolphin leaping. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation |
| 研究领域[WOS] | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 关键词[WOS] | ROBOTIC FISH ; PID CONTROL ; ENERGY |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000374164600044 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/12214]  |
| 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 | Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Su, Zongshuai,Wu, Zhengxing,et al. An Integrative Control Method for Bio-Inspired Dolphin Leaping: Design and Experiments[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2016,63(5):3108-3116. |
| APA | Yu, Junzhi,Su, Zongshuai,Wu, Zhengxing,&Tan, Min.(2016).An Integrative Control Method for Bio-Inspired Dolphin Leaping: Design and Experiments.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,63(5),3108-3116. |
| MLA | Yu, Junzhi,et al."An Integrative Control Method for Bio-Inspired Dolphin Leaping: Design and Experiments".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 63.5(2016):3108-3116. |
入库方式： OAI收割
来源：自动化研究所
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