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Three-Dimensional Modeling of a Fin-Actuated Robotic Fish With Multimodal Swimming

文献类型：期刊论文

作者Wang, Wei1,2; Dai, Xia3; Li, Liang1; Gheneti, Banti H.2; Ding, Yang4; Yu, Junzhi5; Xie, Guangming1,6
刊名IEEE-ASME TRANSACTIONS ON MECHATRONICS
出版日期2018-08-01
卷号23期号:4页码:1641-1652
关键词Biologically Inspired Robots Marine Robotics Robot Dynamics Robotic Fish Three-dimensional (3-d) Modeling
DOI10.1109/TMECH.2018.2848220
文献子类Article
英文摘要Dynamical model is always an important factor in controller design for robots. Existing models of robotic fish typically incorporate only planar motion, rarely considering spatial motion. This paper formulates a complete three-dimensional (3-D) dynamic model for the robotic fish actuated by pectoral and caudal fins, in which the fluid forces mainly contain quasi-steady lift and drag, gravity and buoyancy, and waterjet strike force. The critical lift and drag of flapping fins are derived with an explicit 3-D angle of attack. Taking a bioinspired central pattern generator as the system actuation, our model can produce multi-modal maneuvers, including forward/backward swimming, turning, and ascending/descending, as well as complicated motions, such as rolling and spiraling. Motions simulated in a 3-D environment are experimentally validated with a free-swimming robotic fish. Furthermore, systematic comparisons between simulations and experiments are conducted over a wide range of the control parameter space for beating frequency, amplitude, and offset. The overall results demonstrate the effectiveness and the versatility of the developed 3-D dynamic model in the prediction of the robot trajectory, velocity, and attitude.
WOS关键词UNDERWATER VEHICLES ; LOCOMOTION ; DESIGN ; HYDRODYNAMICS ; BODIES ; MOTION ; TAIL ; BODY
WOS研究方向Automation & Control Systems ; Engineering
语种英语
WOS记录号WOS:000442347800015
资助机构National Natural Science Foundation of China(51575005 ; China Postdoctoral Science Foundation(2015M570013 ; 61503008 ; 2016T90016) ; 61633002 ; 91648120)
源URL[http://ir.ia.ac.cn/handle/173211/21869]  
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.Peking Univ, Coll Engn, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
2.MIT, Dept Urban Studies & Planning, Cambridge, MA 02139 USA
3.Beihang Univ, Sch Elect & Informat Engn, Beijing 100191, Peoples R China
4.Beijing Computat Sci Res Ctr, Beijing 100094, Peoples R China
5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
6.Peking Univ, Inst Ocean Res, Beijing 100871, Peoples R China
推荐引用方式
GB/T 7714		 Wang, Wei,Dai, Xia,Li, Liang,et al. Three-Dimensional Modeling of a Fin-Actuated Robotic Fish With Multimodal Swimming[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2018,23(4):1641-1652.
APA Wang, Wei.,Dai, Xia.,Li, Liang.,Gheneti, Banti H..,Ding, Yang.,...&Xie, Guangming.(2018).Three-Dimensional Modeling of a Fin-Actuated Robotic Fish With Multimodal Swimming.IEEE-ASME TRANSACTIONS ON MECHATRONICS,23(4),1641-1652.
MLA Wang, Wei,et al."Three-Dimensional Modeling of a Fin-Actuated Robotic Fish With Multimodal Swimming".IEEE-ASME TRANSACTIONS ON MECHATRONICS 23.4(2018):1641-1652.

入库方式： OAI收割

来源：自动化研究所

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