Dynamic modeling of a CPG-governed multijoint robotic fish
文献类型：期刊论文
| 作者 | Yu, Junzhi ; Wang, Ming; Su, Zongshuai; Tan, Min; Zhang, Jianwei
|
| 刊名 | ADVANCED ROBOTICS
 |
| 出版日期 | 2013-03-01 |
| 卷号 | 27期号:4页码:275-285 |
| 关键词 | dynamic modeling robotic fish motion control central pattern generator (CPG) backward swimming |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | This paper is devoted to the formulation of a dynamic model of a serially connected multijoint robotic fish with a pair of wing-like pectoral fins, in which the whole robot is treated as a moving multilink rigid body in fluids. Considering that the thrust of fish mainly results from the force of trailing vortex, added lateral pressure, and leading edge suction force, the dynamic equations of the swimming fish have been derived by summing up the longitudinal force, lateral force, and yaw moment on each propulsive component in the context of Lagrangian mechanics. Along with the bio-inspired central pattern generators (CPGs) as the locomotor controller, the overall dynamic propulsive characteristics of the swimming robot are then estimated in a mathematical environment (i.e. Mathematica). Finally, simulations and experiments are carried out to validate the effectiveness of the built dynamic model. Results demonstrate that the CPG-coupled dynamic model provides a fairly good guide to seeking pragmatic backward swimming patterns for a carangiform robotic fish. © 2013 Copyright Taylor & Francis and The Robotics Society of Japan. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | SWIMMING MODES ; PATTERN ; PERFORMANCE ; LOCOMOTION ; ANIMALS |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000315715100004 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3466]  |
| 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 |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Wang, Ming,Su, Zongshuai,et al. Dynamic modeling of a CPG-governed multijoint robotic fish[J]. ADVANCED ROBOTICS,2013,27(4):275-285. |
| APA | Yu, Junzhi,Wang, Ming,Su, Zongshuai,Tan, Min,&Zhang, Jianwei.(2013).Dynamic modeling of a CPG-governed multijoint robotic fish.ADVANCED ROBOTICS,27(4),275-285. |
| MLA | Yu, Junzhi,et al."Dynamic modeling of a CPG-governed multijoint robotic fish".ADVANCED ROBOTICS 27.4(2013):275-285. |
入库方式： OAI收割
来源：自动化研究所
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