A Bio-Inspired Robot With Undulatory Fins and Its Control Methods
文献类型：期刊论文
| 作者 | Wang, Shuo ; Wang, Yu; Wei, Qingping; Tan, Min; Yu, Junzhi
|
| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2017-02-01 |
| 卷号 | 22期号:1页码:206-216 |
| 关键词 | Bio-inspired robot course control depth control waypoint tracking |
| 英文摘要 | This paper proposes a bio-inspired robot with undulatory fins and summarizes its control methods. First, three basic motions, forward/backward swimming, diving/rising motion, and turning, are implemented and evaluated by experiments. Next, a hybrid control that combines active disturbance rejection control with a fuzzy strategy is presented to achieve closed-loop depth and course control according to the evaluation of the three basic motions. Finally, waypoint tracking with a line-of-sight guidance system based on a finite-state machine for this bio-inspired robot is presented. The results of swimming experiments are provided to illustrate the validity of the proposed methods. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 关键词[WOS] | FISH ; DESIGN ; PERFORMANCE ; LOCOMOTION |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000395750100022 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/14395]  |
| 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 | Wang, Shuo,Wang, Yu,Wei, Qingping,et al. A Bio-Inspired Robot With Undulatory Fins and Its Control Methods[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2017,22(1):206-216. |
| APA | Wang, Shuo,Wang, Yu,Wei, Qingping,Tan, Min,&Yu, Junzhi.(2017).A Bio-Inspired Robot With Undulatory Fins and Its Control Methods.IEEE-ASME TRANSACTIONS ON MECHATRONICS,22(1),206-216. |
| MLA | Wang, Shuo,et al."A Bio-Inspired Robot With Undulatory Fins and Its Control Methods".IEEE-ASME TRANSACTIONS ON MECHATRONICS 22.1(2017):206-216. |
入库方式： OAI收割
来源：自动化研究所
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