Implementing Flexible and Fast Turning Maneuvers of a Multijoint Robotic Fish
文献类型：期刊论文
| 作者 | Su, Zongshuai1; Yu, Junzhi1 ; Tan, Min1; Zhang, Jianwei2
|
| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2014-02-01 |
| 卷号 | 19期号:1页码:329-338 |
| 关键词 | Bio-inspired robot C-start fast turn robotic fish swimming control |
| 英文摘要 | This paper focuses mainly on the control issues of replicating fast C-start maneuvers commonly found in fish propelled by their bodies and/or caudal fins. To generate an escape maneuver that combines a high degree of flexibility and precision, major factors related to the caudal fins, the moving joints, and the used motors are explored. Specifically, the turning rate is maximized by finely designing the preparatory and propulsive stages, while the relatively precise turning angle is achieved by a closed-loop control strategy in the propulsive and variable stages. Different types of C-starts are extensively implemented and compared by using a four-joint robotic fish. The latest results obtained show that the robotic fish is able to execute C-starts flexibly with a turning angle of up to 213 degrees, a top turning rate of approximately 670 degrees/s measured by the onboard gyroscope. Meanwhile, an upper limit of turning precision of less than 10 degrees is achieved. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 关键词[WOS] | START ESCAPE RESPONSE ; C-START ; BLUEGILL SUNFISH ; PERFORMANCE ; HYDRODYNAMICS ; PROPULSION ; KINEMATICS |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000330233600031 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3484]  |
| 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 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Intelligent Control & Management Co, Beijing 100190, Peoples R China 2.Univ Hamburg, Dept Informat, D-22527 Hamburg, Germany |
| 推荐引用方式 GB/T 7714 | Su, Zongshuai,Yu, Junzhi,Tan, Min,et al. Implementing Flexible and Fast Turning Maneuvers of a Multijoint Robotic Fish[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2014,19(1):329-338. |
| APA | Su, Zongshuai,Yu, Junzhi,Tan, Min,&Zhang, Jianwei.(2014).Implementing Flexible and Fast Turning Maneuvers of a Multijoint Robotic Fish.IEEE-ASME TRANSACTIONS ON MECHATRONICS,19(1),329-338. |
| MLA | Su, Zongshuai,et al."Implementing Flexible and Fast Turning Maneuvers of a Multijoint Robotic Fish".IEEE-ASME TRANSACTIONS ON MECHATRONICS 19.1(2014):329-338. |
入库方式： OAI收割
来源：自动化研究所
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