A marsupial robotic fish team: Design, motion and cooperation
文献类型：期刊论文
| 作者 | Zhou Chao ; Cao ZhiQiang; Wang Shuo; Tan Min
|
| 刊名 | SCIENCE CHINA-TECHNOLOGICAL SCIENCES
 |
| 出版日期 | 2010-11-01 |
| 卷号 | 53期号:11页码:2896-2904 |
| 关键词 | marsupial robotic fish daughter-mother following heterogeneous communication-based FSM |
| 英文摘要 | A bio-inspired marsupial robotic fish system composed of heterogeneous robotic fish is proposed in this paper. A miniature robotic fish, as the daughter robotic fish, can adapt to some narrow space, while the mother robotic fish, with a cabin to transport the daughter, possesses a powerful movement ability to improve the mobility and endurance of the team. The structures for mimicking bio-motion and the method for fishlike-motion are presented. A typical task of daughter-mother following is given to show the cooperation of the team. A motion model of free swimming is built based on the Lagrangian function, and the coupled dynamic and kinematic functions are calculated based on the relation between the generalized force and fluid force. Then, a neural network is trained through the data generated from this model to get a predictive yaw controller, which can control the orientation by a different offset of each link. The daughter robotic fish adopts a dynamic light source tracking approach to follow the mother, and a heterogeneous communication-based finite state machine is presented for task modeling. Experiments are carried out to verify the system. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Engineering, Multidisciplinary ; Materials Science, Multidisciplinary |
| 研究领域[WOS] | Engineering ; Materials Science |
| 关键词[WOS] | LOCOMOTION ; FIN |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000283119500002 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3421]  |
| 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, Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhou Chao,Cao ZhiQiang,Wang Shuo,et al. A marsupial robotic fish team: Design, motion and cooperation[J]. SCIENCE CHINA-TECHNOLOGICAL SCIENCES,2010,53(11):2896-2904. |
| APA | Zhou Chao,Cao ZhiQiang,Wang Shuo,&Tan Min.(2010).A marsupial robotic fish team: Design, motion and cooperation.SCIENCE CHINA-TECHNOLOGICAL SCIENCES,53(11),2896-2904. |
| MLA | Zhou Chao,et al."A marsupial robotic fish team: Design, motion and cooperation".SCIENCE CHINA-TECHNOLOGICAL SCIENCES 53.11(2010):2896-2904. |
入库方式： OAI收割
来源：自动化研究所
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