An Elastic Biomimetic Fish Tail and Its Undulation Fitting Method of Body Wave
文献类型：会议论文
| 作者 | Xiaocun Liao1,2 ; Yuzhuo Fu1,2; Ben Lu1,2; Qianqian Zou1,2; Zhuoliang Zhang1,2; Chao Zhou1,2
|
| 出版日期 | 2021 |
| 会议日期 | August 8 - 11, 2021 |
| 会议地点 | Takamatsu, Japan |
| 关键词 | Elastic biomimetic fish tail Kinematics model Control coupling Undulation fitting method |
| DOI | 10.1109/ICMA52036.2021.9512706 |
| 英文摘要 | This paper presents a novel wire-driven fish tail with two joints, using spring-steel-sheet to mimic fish spine, which makes the whole fish tail compliant and can simulate real fish better. This mechanism can also achieve C-shape and S-
shape swing similar to natural fish tail. To predict the attitude of fish tail, kinematics model is established theoretically in this paper. The simulation experiments show that the maximum error between the amplitude predicted by the kinematics model and expected amplitude at the end of the fish tail is 5 mm, indicating the correctness of the proposed kinematics model. In order to solve the control coupling problem of servomotors, this paper further proposes a based-vision biomimetic undulation fitting method, which is both simple and efficient. Finally, the proposed method is verified by two groups of experiments involving
forward motion and turn motion. Experimental results are in good agreement with the expected values. When the frequency is 0.1 Hz, the average errors of forward motion and turn motion are 0.590 and 0.70 respectively, which proves that the proposed method is reliable and effective. |
| 源文献作者 | IEEE |
| 会议录出版者 | IEEE |
| 语种 | 英语 |
| URL标识 | 查看原文 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/56555]  |
| 专题 | 复杂系统管理与控制国家重点实验室_水下机器人 |
| 通讯作者 | Chao Zhou |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China |
| 推荐引用方式 GB/T 7714 | Xiaocun Liao,Yuzhuo Fu,Ben Lu,et al. An Elastic Biomimetic Fish Tail and Its Undulation Fitting Method of Body Wave[C]. 见:. Takamatsu, Japan. August 8 - 11, 2021. |
入库方式： OAI收割
来源：自动化研究所
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