Closed-Loop Precise Turning Control for a BCF-Mode Robotic Fish
文献类型：会议论文
| 作者 | Su Zongshuai; Yu Junzhi ; Tan Min; Zhang Jianwei
|
| 出版日期 | 2010 |
| 会议名称 | IEEE/RSJ International Conference on Intelligent Robots and Systems |
| 会议日期 | 2010.10 |
| 会议地点 | Taipei, Taiwan |
| 关键词 | Turning Joints Propulsion Robot sensing systems Force Steady-state |
| 通讯作者 | Su Zongshuai |
| 英文摘要 | This paper deals with a novel closed-loop maneuvering control method to enhance the turning precision and turning response speed of a robotic fish propelled via the body and/or caudal fin (BCF) mode. Although the BCF propulsion is favorable for the cases requiring greater thrust and accelerations, its maneuverability can be compensated by effective turning control. In our method, the turning maneuver is divided into three phases: the bending, holding, and unbending phases. After much consideration on turning details, the functions of each phase and the basic control laws are further identified. Results of experiments on in-situ direction tracking and direction maintaining verify the effectiveness of the proposed turning control. |
| 收录类别 | ISTP |
| 会议录 | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/4931]  |
| 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. Closed-Loop Precise Turning Control for a BCF-Mode Robotic Fish[C]. 见:IEEE/RSJ International Conference on Intelligent Robots and Systems. Taipei, Taiwan. 2010.10. |
入库方式： OAI收割
来源：自动化研究所
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