Design and Locomotion Control of a Dactylopteridae-Inspired Biomimetic Underwater Vehicle With Hybrid Propulsion
文献类型：期刊论文
| 作者 | Zhang, Tiandong1,3 ; Wang, Rui3; Wang, Yu3; Cheng, Long1,3; Wang, Shuo1,2,3; Tan, Min1,3
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| 刊名 | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
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| 出版日期 | 2021-04-07 |
| 页码 | 13 |
| 关键词 | Propulsion DC motors Robots Control systems Servomotors Underwater vehicles Sports Biomimetic underwater vehicle (BUV) body and or caudal fin (BCF) median and or paired fin (MPF) hybrid propulsion central pattern generators (CPGs) fuzzy proportion integral differential (PID) |
| ISSN号 | 1545-5955 |
| DOI | 10.1109/TASE.2021.3070117 |
| 通讯作者 | Wang, Rui(rwang5212@ia.ac.cn) |
| 英文摘要 | This article presents the design and implementation of an innovative biomimetic underwater vehicle (BUV) and its locomotion controller. Through mimicking a dactylopteridae, the hybrid propulsion BUV is designed with two symmetrical bio-inspired long-fins and a double-joint fishtail. The mechatronic design of the dactylopteridae-inspired BUV with the pectoral long-fins and a double-joint fishtail is first provided. The two flexible long-fins compose the median and/or paired fin (MPF) propulsion, while the fishtail acts as the body and/or caudal fin (BCF) propulsion. Through the coordination of BCF and MPF propulsion modes, the BUV obtains excellent low-speed locomotion stability and also keeps high maneuverability. Moreover, the locomotion control methods based on central pattern generators (CPGs) model and fuzzy adaptive proportion integral differential (PID) are proposed for this BUV. In the end, the experimental results of the multimode motion and closed-loop motion control demonstrate the feasibility and effectiveness of the mechanism and the locomotion control system. |
| 资助项目 | National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[U1806204] ; National Natural Science Foundation of China[U1913209] ; National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[62073316] ; Strategic Priority Research Program of the Chinese Academy of Sciences (CAS)[XDB32050100] ; Key Projects of Foreign Cooperation of CAS[173211KYSB20200020] ; Beijing Municipal Natural Science Foundation[JQ19020] ; Youth Innovation Promotion Association CAS |
| WOS研究方向 | Automation & Control Systems |
| 语种 | 英语 |
| WOS记录号 | WOS:000732259300001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Strategic Priority Research Program of the Chinese Academy of Sciences (CAS) ; Key Projects of Foreign Cooperation of CAS ; Beijing Municipal Natural Science Foundation ; Youth Innovation Promotion Association CAS |
| 源URL | [http://ir.ia.ac.cn/handle/173211/46899]  |
| 专题 | 智能机器人系统研究 |
| 通讯作者 | Wang, Rui |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China 3.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 | Zhang, Tiandong,Wang, Rui,Wang, Yu,et al. Design and Locomotion Control of a Dactylopteridae-Inspired Biomimetic Underwater Vehicle With Hybrid Propulsion[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2021:13. |
| APA | Zhang, Tiandong,Wang, Rui,Wang, Yu,Cheng, Long,Wang, Shuo,&Tan, Min.(2021).Design and Locomotion Control of a Dactylopteridae-Inspired Biomimetic Underwater Vehicle With Hybrid Propulsion.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,13. |
| MLA | Zhang, Tiandong,et al."Design and Locomotion Control of a Dactylopteridae-Inspired Biomimetic Underwater Vehicle With Hybrid Propulsion".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2021):13. |
入库方式： OAI收割
来源：自动化研究所
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