Kinematic comparison of forward and backward swimming and maneuvering in a self-propelled sub-carangiform robotic fish
文献类型：期刊论文
| 作者 | Wu, Zhengxing 1; Yu, Junzhi 1; Tan, Min 1; Zhang, Jianwei 2 |
| 刊名 | Journal of Bionic Engineering
 |
| 出版日期 | 2014 |
| 卷号 | 11期号:2页码:199-212 |
| 关键词 | robotic fish backward swimming Central Pattern Generator (CPG) swimming locomotion control |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | We make a thorough kinematic comparison of forward and backward swimming and maneuvering on a self-propelled robot platform that uses sub-carangiform swimming as the primary propulsor. An improved Central Pattern Generator (CPG) model allowing free adjustment of phase relationship and directional bias is employed to achieve flexible swimming and smooth transition. Considering the characteristics of forward swimming incarangiform fish and backward swimming in anguilliform fish, various backward swimming patterns for the sub-carangiform robotic fish are suitably created by reversing the direction of propagating propulsive waves. Through a combined use of the CPG control and closed-loop swimming direction control strategy, flexible and precise turning maneuvers in both forward and backward swimming are implemented and compared. By contrast with forward swimming, backward swimming requires a higher frequency or an increased lateral displacement to reach the same relative swimmingspeed. Noticeably, the phase difference shows a greater impact on forward swimming than on backward swimming. Our observations also indicate that the robotic fish achieves a larger turning rate in forward maneuvering than in backward maneuvering, yet these two maneuvers display comparable turning precision. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13096]  |
| 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. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2. Department of Informatics, University of Hamburg, Hamburg, Germany |
| 推荐引用方式 GB/T 7714 | Wu, Zhengxing ,Yu, Junzhi ,Tan, Min ,et al. Kinematic comparison of forward and backward swimming and maneuvering in a self-propelled sub-carangiform robotic fish[J]. Journal of Bionic Engineering,2014,11(2):199-212. |
| APA | Wu, Zhengxing ,Yu, Junzhi ,Tan, Min ,&Zhang, Jianwei .(2014).Kinematic comparison of forward and backward swimming and maneuvering in a self-propelled sub-carangiform robotic fish.Journal of Bionic Engineering,11(2),199-212. |
| MLA | Wu, Zhengxing ,et al."Kinematic comparison of forward and backward swimming and maneuvering in a self-propelled sub-carangiform robotic fish".Journal of Bionic Engineering 11.2(2014):199-212. |
入库方式： OAI收割
来源：自动化研究所
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