Dynamic Modeling and Its Application for a CPG-Coupled Robotic Fish
文献类型：会议论文
| 作者 | Yu Junzhi ; Wang Ming; Su Zongshuai; Tan Min; Zhang Jianwei
|
| 出版日期 | 2011 |
| 会议名称 | IEEE International Conference on Robotics and Automation |
| 会议日期 | 2011.05 |
| 会议地点 | Shanghai, China |
| 关键词 | Joints, Force Robot kinematics Oscillators Dynamics Mathematical model |
| 卷号 | 2016 IEEE International Conference on Robotics and Automation, ICRA 2011 |
| 页码 | 2015 IEEE International Conference on Robotics and Automation, ICRA 2011 |
| 通讯作者 | Yu Junzhi |
| 英文摘要 | In this paper, we present the formulation of a dynamic model of a free-swimming multi-joint robotic fish with a pair of wing-like pectoral fins, in which the whole robot is regarded 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 framework of Lagrangian mechanics. Furthermore, using the bio-inspired Central Pattern Generators (CPGs) as the swimming data generator, the overall dynamicpropulsive characteristics of the swimming robot are estimated in a mathematical environment (i.e., Mathematica). As a case study, the created dynamic model offers a good guide to seeking pragmatic backward swimming patterns for a carangiform robotic fish, which exemplifies the validity of the CPG-coupled dynamic model. |
| 收录类别 | ISTP |
| 会议录 | 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
 |
| 会议录出版者 | 2012 IEEE International Conference on Robotics and Automation, ICRA 2011 |
| 会议录出版地 | 2013 IEEE International Conference on Robotics and Automation, ICRA 2011 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/4926]  |
| 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 and Its Application for a CPG-Coupled Robotic Fish[C]. 见:IEEE International Conference on Robotics and Automation. Shanghai, China. 2011.05. |
入库方式： OAI收割
来源：自动化研究所
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