Swimming locomotion modeling for biomimetic underwater vehicle with two undulating long-fins
文献类型：期刊论文
| 作者 | Shang, Liuji; Wang, Shuo ; Tan, Min; Cheng, Long
|
| 刊名 | ROBOTICA
 |
| 出版日期 | 2012-10-01 |
| 卷号 | 30页码:913-923 |
| 关键词 | Biomimetic underwater vehicle Recursive weighted least squares Modeling Parameter identification |
| 英文摘要 | A biomimetic underwater vehicle, which is propelled by two undulating long-fins, is introduced in this paper. The undulating or oscillating movements of symmetrical long-fins cause the complex locomotion of biomimetic underwater vehicle. For convenience, three motion modes are proposed and considered firstly. Then an inertial unit is installed for collection of accelerations and angular velocity. The underwater vehicle's MIMO model is reduced into a SISO model by some simplifications. A sine wave function deduced from the long-fin's time-varying membrane is proposed and used as the input of the biomimetic underwater vehicle ARMA model, and velocity or angular velocity is considered as the model output. The algorithms based on recursive weighted least squares are applied for model parameter identification. Experiments carried out with a long-fin propelled underwater vehicle. The experimental results show that the proposed methods can build valid locomotion models for three motion modes efficiently. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | ROBOTIC FISH |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000308836100004 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3414]  |
| 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 | Chinese Acad Sci, Inst Automat, State Key Lab Intelligent Control & Management Co, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Shang, Liuji,Wang, Shuo,Tan, Min,et al. Swimming locomotion modeling for biomimetic underwater vehicle with two undulating long-fins[J]. ROBOTICA,2012,30:913-923. |
| APA | Shang, Liuji,Wang, Shuo,Tan, Min,&Cheng, Long.(2012).Swimming locomotion modeling for biomimetic underwater vehicle with two undulating long-fins.ROBOTICA,30,913-923. |
| MLA | Shang, Liuji,et al."Swimming locomotion modeling for biomimetic underwater vehicle with two undulating long-fins".ROBOTICA 30(2012):913-923. |
入库方式： OAI收割
来源：自动化研究所
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