Implementing high-maneuverability swimming with biomimetic robotic fish
文献类型：期刊论文
| 作者 | Junzhi Yu ; Zhengxing Wu; Zongshuai Su; Min Tan
|
| 刊名 | Science Foundation In China
 |
| 出版日期 | 2015 |
| 卷号 | 23期号:4页码:69-80 |
| 关键词 | Biomimetics Robotic Fish High Maneuverability Motion Control |
| 英文摘要 | This paper presents the mechanical design and control of biomimetic robotic fish with high maneuverability. These robotic fish modelled after Esox lucius adopts multilink propulsive mechanism for high turning speed and small turning radius. According to the different tasks, these robotic fish are designed with decorated pectoral fins for two-dimensional horizon plane, or controllable pectoral fins with multi degrees of freedom for three-dimensional space. Through observing and analyzing the fast-start of natural fish, we separately developed corresponding control strategies for a dynamic trajectory tracking strategy based C-start and an L shape sliding method based S-start. Finally, a four-link robotic fish is able to execute C-start flexibly with a turning angle of up to 213°, a top turning rate of approximately 670 °/s, and an upper limit of turning precision of less than 10° and an S-start with a peak turning rate up to 318.08±9.20°/s. The experimental results verify the effectiveness of our developed robotic prototypes and also control approaches for C-start and S-start. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/15291]  |
| 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 |
| 通讯作者 | Junzhi Yu |
| 推荐引用方式 GB/T 7714 | Junzhi Yu,Zhengxing Wu,Zongshuai Su,et al. Implementing high-maneuverability swimming with biomimetic robotic fish[J]. Science Foundation In China,2015,23(4):69-80. |
| APA | Junzhi Yu,Zhengxing Wu,Zongshuai Su,&Min Tan.(2015).Implementing high-maneuverability swimming with biomimetic robotic fish.Science Foundation In China,23(4),69-80. |
| MLA | Junzhi Yu,et al."Implementing high-maneuverability swimming with biomimetic robotic fish".Science Foundation In China 23.4(2015):69-80. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。