Control and coordination of biomimetic robotic fish
文献类型：会议论文
| 作者 | Yu, Junzhi ; Fang, Yimi; Zhao, Wei; Wang, Long
|
| 出版日期 | 2005 |
| 会议日期 | August 2, 2005 - August 6, 2005 |
| 会议地点 | Edmonton, AB, Canada |
| 关键词 | Biomimetic Robotic Fish Control And Coordination Motion Control Visual Tracking Behavioral Strategy |
| 英文摘要 | Investigation in biomimetic robotic fish is a multidisciplinary problem entirely involving hydrodynamics-based control and robotic technology. In this paper, grounded on an optimized kinematic propulsive model of fish that relate frequency to speed and joint angle bias to turns, a robotic fish and its motion control are designed. Information of multiple fishes' position and orientation, with real-time visual tracking, is then obtained for positioning in the coordinate experiment. The coordinate motions of the fishes are achieved by behavior-based strategies composed of role assignment, behavior selection and role transition. An experimental system for multiple robotic fishes' coordination is finally constructed to verify the proposed scheme and algorithms, and the running experiments of passing-hole and pushing-ball primarily show the effectiveness of the presented strategies. |
| 会议录 | IEEE IRS/RSJ International Conference on Intelligent Robots and Systems
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13145]  |
| 专题 | 自动化研究所_个人空间 |
| 通讯作者 | Yu, Junzhi |
| 作者单位 | Center for Systems and Control, Peking University, Beijing 100871, China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Fang, Yimi,Zhao, Wei,et al. Control and coordination of biomimetic robotic fish[C]. 见:. Edmonton, AB, Canada. August 2, 2005 - August 6, 2005. |
入库方式： OAI收割
来源：自动化研究所
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