An improved multimodal robotic fish modelled after Esox lucius
文献类型：会议论文
| 作者 | Wu Zhengxing ; Yu Junzhi; Su Zongshuai; Tan Min
|
| 出版日期 | 2014 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics |
| 会议日期 | 2013 |
| 会议地点 | Shenzhen, China |
| 关键词 | Servomotors Turning Joints Robot kinematics Oscillators Hydrodynamics |
| 通讯作者 | Wu Zhengxing |
| 英文摘要 | This paper focuses on a further exploration of multimodal locomotion governed by bio-inspired central pattern generators (CPGs). To pursue a better swimming performance, an updated robotic fish is constructed. Besides the improved hardware devices involving higher torque servomotors and powerful processors, some innovative mechanical designs are taken into consideration. Specifically, a well-streamlined shape like Esox lucius and a yawing head joint contribute to reduce hydrodynamic drag and strengthen turning ability. A pair of flexible pectoral fins with four degrees of freedom is to enhance the capability of three-dimensional locomotion and to enrich multiple swimming motions. Further discussion on how characteristic parameters in CPGs including frequency, amplitude, and phase relationship impact the swimming performance is also presented. Finally, the robotic fishsuccessfully gains more powerful capability of multimodal locomotion containing forward swimming, backward swimming, turning, diving, and ascending. The experimental results validate the effectiveness of mechanism design and adaptability of multimodal locomotion governed by CPGs. |
| 会议录 | 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13049]  |
| 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 |
| 推荐引用方式 GB/T 7714 | Wu Zhengxing,Yu Junzhi,Su Zongshuai,et al. An improved multimodal robotic fish modelled after Esox lucius[C]. 见:IEEE International Conference on Robotics and Biomimetics. Shenzhen, China. 2013. |
入库方式： OAI收割
来源：自动化研究所
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