Dynamic Modelling of a CPG-Controlled Amphibious Biomimetic Swimming Robot
文献类型：期刊论文
| 作者 | Ding, Rui; Yu, Junzhi ; Yang, Qinghai; Tan, Min
|
| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
 |
| 出版日期 | 2013-04-17 |
| 卷号 | 10 |
| 关键词 | Biomimetics Dynamic Modeling Amphibious Swimming Robot |
| 英文摘要 | This paper focuses on the modelling and control problems of a self-propelled, multimodal amphibious robot. Inspired by the undulatory body motions of fish and dolphins, the amphibious robot propels itself underwater by oscillations of several modular fish-like propelling units coupled with a pair of pectoral fins capable of non-continuous 360 degree rotation. In order to mimic fish-like undulating propulsion, a control architecture based on Central Pattern Generator (CPG) is applied to the amphibious robot for robust swimming gaits, including forward and backward swimming and turning, etc. With the simplification of the robot as a multi-link serial mechanism, a Lagrangian function is employed to establish the hydrodynamic model for steady swimming. The CPG motion control law is then imported into the Lagrangian-based dynamic model, where an associated system of kinematics and dynamics is formed to solve real-time movements and, further, to guide the exploration of the CPG parameters and steady locomotion gaits. Finally, comparative results between the simulations and experiments are provided to show the effectiveness of the built control models. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | WALKING ; LOCOMOTION |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000317590100002 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3494]  |
| 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, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing, Peoples R China |
| 推荐引用方式 GB/T 7714 | Ding, Rui,Yu, Junzhi,Yang, Qinghai,et al. Dynamic Modelling of a CPG-Controlled Amphibious Biomimetic Swimming Robot[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2013,10. |
| APA | Ding, Rui,Yu, Junzhi,Yang, Qinghai,&Tan, Min.(2013).Dynamic Modelling of a CPG-Controlled Amphibious Biomimetic Swimming Robot.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,10. |
| MLA | Ding, Rui,et al."Dynamic Modelling of a CPG-Controlled Amphibious Biomimetic Swimming Robot".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 10(2013). |
入库方式： OAI收割
来源：自动化研究所
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