A closed-loop method to generate fast C-start for a robotic fish
文献类型：会议论文
| 作者 | Su Zongshuai; Yu Junzhi ; Tan Min; Zhang Jianwei
|
| 出版日期 | 2011 |
| 会议名称 | IEEE International Conference on Mechatronics and Automation |
| 会议日期 | 2011.08 |
| 会议地点 | Beijing, China |
| 关键词 | Biomemetics Robotics C-start |
| 页码 | 365-370 |
| 通讯作者 | Su Zongshuai |
| 英文摘要 | This paper presents a novel closed-loop method for a multilink robotic fish to mimic the C-start maneuver, in which the turning speed and precision are emphasized. The turning speed is maximized by carefully designed preparatory stage, and the turning precision is achieved by the feedback of the turning angle from a gyroscope and a new design of the propulsive stage. Different types of C-starts are studied, due to the different sizes of caudal fins, in order to achieve the highest turning angular velocity. All the proposed types of C-starts are experimented and compared using a four-joint robotic fish. The experimental results show a fastest angular velocity up to 200°/s and the distinctions between all these different types. |
| 收录类别 | EI |
| 会议录 | 2011 IEEE International Conference on Mechatronics and Automation, ICMA
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/4827]  |
| 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 | Su Zongshuai,Yu Junzhi,Tan Min,et al. A closed-loop method to generate fast C-start for a robotic fish[C]. 见:IEEE International Conference on Mechatronics and Automation. Beijing, China. 2011.08. |
入库方式： OAI收割
来源：自动化研究所
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