Dynamics and control of turning maneuver for biomimetic robotic fish
文献类型：会议论文
| 作者 | Yu, Junzhi ; Liu, Lizhong; Wang, Long
|
| 出版日期 | 2006 |
| 会议名称 | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 |
| 会议日期 | October 9, 2006 - October 15, 2006 |
| 会议地点 | Beijing, China |
| 关键词 | Biomimetic robotic fish underwater robot maneuver turning control path planning. |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | This paper deals with maneuver issues, in particular turning control of a free-swimming, multi-link biomimetic robotic fish propelled by a flexible rear body and oscillatory tail fin. Taking into account of both hydrodynamic model and engineering use, we develop a practical method to execute a circular maneuver. The turning control, based on asymmetrical kinematics and dynamics, can be achieved by adding different deflections to the oscillatory links. The characteristic parameters affecting turning performance include magnitude, position, and time of the deflections applied to the links, which are discussed with a series of simulation calculations. The experiments of circular motion with a four-link, infrared-sensor-equipped robotic fish acquire a satisfactory maneuverability. Moreover, the feasibility of adding deflection angles to maneuver the robotic fish in the path planning is explored both analytically and experimentally. |
| 会议录 | IEEE/RSJ International Conference on Intelligent Robots and Systems
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13071]  |
| 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 | Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China.(2)Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Liu, Lizhong,Wang, Long. Dynamics and control of turning maneuver for biomimetic robotic fish[C]. 见:2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. Beijing, China. October 9, 2006 - October 15, 2006. |
入库方式： OAI收割
来源：自动化研究所
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