Autonomous Recovery Control of Biomimetic Robotic Fish Based on Multi-Sensory System
文献类型：期刊论文
| 作者 | Qiu, Changlin3,4; Wu, Zhengxing3,4 ; Wang, Jian3,4; Tan, Min3,4; Yu, Junzhi1,2
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| 刊名 | IEEE ROBOTICS AND AUTOMATION LETTERS
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| 出版日期 | 2024-02-01 |
| 卷号 | 9期号:2页码:1420-1427 |
| ISSN号 | 2377-3766 |
| 关键词 | Robots Wires Tail Robot sensing systems Task analysis Springs Sensors Autonomous recovery motion control robotic fish underwater perception |
| DOI | 10.1109/LRA.2023.3346813 |
| 通讯作者 | Yu, Junzhi(junzhi.yu@ia.ac.cn) |
| 英文摘要 | As a new-type underwater robot with outstanding motion performance and environmental friendliness, bionic robotic fish holds enormous potential in the field of ocean exploration. In practical application, it is a vital mission for underwater robots to accomplish efficient and stable autonomous recovery. To this end, this letter presents a novel bionic robotic fish with a multi-dimensional sensory system followed by its autonomous recovery control. Firstly, a wire-driven robotic fish is developed by the new-type active and passive joint design, and the excellent three-dimensional motion maneuverability is achieved. Secondly, a multi-dimensional sensory system consisting of binocular fish-eye cameras and infrared sensor array is constructed, obtaining the reliable visual and distance perception. On the basis of designed prototype and sensory system, regarding to the recovery process, four representative recovery stages are particularly proposed, thus achieving autonomous recovery control of the robotic fish. Finally, extensive indoor and outdoor experiments are conducted to demonstrate the effectiveness and robustness of the developed autonomous recovery system of robotic fish. The obtained results can serve as a valuable reference for the timed energy supply and data uploading of bionic robots in the long-term task. |
| 资助项目 | National Natural Science Foundation of China |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| WOS记录号 | WOS:001136735400002 |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/55413]  |
| 专题 | 复杂系统认知与决策实验室 |
| 通讯作者 | Yu, Junzhi |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 2.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 4.Chinese Acad Sci, Inst ofAutomat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Qiu, Changlin,Wu, Zhengxing,Wang, Jian,et al. Autonomous Recovery Control of Biomimetic Robotic Fish Based on Multi-Sensory System[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2024,9(2):1420-1427. |
| APA | Qiu, Changlin,Wu, Zhengxing,Wang, Jian,Tan, Min,&Yu, Junzhi.(2024).Autonomous Recovery Control of Biomimetic Robotic Fish Based on Multi-Sensory System.IEEE ROBOTICS AND AUTOMATION LETTERS,9(2),1420-1427. |
| MLA | Qiu, Changlin,et al."Autonomous Recovery Control of Biomimetic Robotic Fish Based on Multi-Sensory System".IEEE ROBOTICS AND AUTOMATION LETTERS 9.2(2024):1420-1427. |
入库方式： OAI收割
来源：自动化研究所
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