Step Function Based Turning Maneuvers in Biomimetic Robotic Fish
文献类型：会议论文
| 作者 | Yu Junzhi ; Wang Ming; Tan Min; Li Y. F.
|
| 出版日期 | 2009 |
| 会议名称 | IEEE International Conference on Robotics and Automation |
| 会议日期 | 2009.05 |
| 会议地点 | Kobe, Japan |
| 关键词 | Turning Biomimetics Robots Marine animals Tail Underwater vehicles Propulsion,Robotics and automation Vehicle dynamics Path planning |
| 页码 | 331-336 |
| 通讯作者 | Wang Ming |
| 英文摘要 | This paper presents a new turning maneuver generation method for a multilink biomimetic robotic fish, in which smooth step functions are introduced to dynamically trigger directed offsets in active and asymmetric swimming. With the proposed method, three basic turning modes can be unified into a general framework by choosing appropriate step-function combinations and dynamic bias. Furthermore, this method can be employed to maneuver the robotic fish agilely in the path planning, which promises more flexibility and steadiness in potential applications to bio-inspired autonomous underwater vehicles. |
| 收录类别 | ISTP |
| 会议录 | 2009 IEEE International Conference on Robotics and Automation, ICRA '09
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/4930]  |
| 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,Tan Min,et al. Step Function Based Turning Maneuvers in Biomimetic Robotic Fish[C]. 见:IEEE International Conference on Robotics and Automation. Kobe, Japan. 2009.05. |
入库方式： OAI收割
来源：自动化研究所
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