Towards an Esox lucius inspired multimodal robotic fish
文献类型：期刊论文
| 作者 | Wu, ZhengXing ; Yu, JunZhi; Su, ZongShuai; Tan, Min; Li, ZhenLong
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| 刊名 | SCIENCE CHINA-INFORMATION SCIENCES
 |
| 出版日期 | 2015-05-01 |
| 卷号 | 58期号:5 |
| 关键词 | bio-inspired robot robotic fish CPG multimodal swimming motion control |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | In this paper, we further explore multimodal locomotion via an updated robotic fish model based on Esox lucius. Besides the improved actuation properties like higher torque servomotors and powerful electronics, the robotic fish has some innovative mechanical design to pursue diverse swimming modes and superior performance. Specifically, we introduced a ±50° yawing head joint that functions as the neck for enhancing turning ability. A pair of pectoral mechanisms with two DOFs per fin is constructed to achieve 3-D swimming and to enrich multiple pectoral motions. At the control level, an improved central pattern generator (CPG) model allowing for free adjustment of the phase relationship among outputs is employed to produce rhythmic signals of multimodal swimming. Extensive experiments were carried out to examine how characteristic parameters in CPGs including amplitude, frequency, and phase lag affect the swimming performance. As a result, the robotic fish successfully performed various locomotion actions such as forward swimming, backward swimming, turning, diving, surfacing, as well as three pectoral motions in the form of pitching, heaving, and heaving-pitching. We found that small phase lag between oscillating joints which means large propulsive body wave length and undulation width could lead to a faster swimming in body and/or caudal fin (BCF) locomotion. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Information Systems |
| 研究领域[WOS] | Computer Science |
| 关键词[WOS] | UNDERWATER ROBOT ; PECTORAL FIN ; PATTERN ; COORDINATION ; KINEMATICS ; LAMPREY |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000353818200004 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/8119]  |
| 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 | State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China |
| 推荐引用方式 GB/T 7714 | Wu, ZhengXing,Yu, JunZhi,Su, ZongShuai,et al. Towards an Esox lucius inspired multimodal robotic fish[J]. SCIENCE CHINA-INFORMATION SCIENCES,2015,58(5). |
| APA | Wu, ZhengXing,Yu, JunZhi,Su, ZongShuai,Tan, Min,&Li, ZhenLong.(2015).Towards an Esox lucius inspired multimodal robotic fish.SCIENCE CHINA-INFORMATION SCIENCES,58(5). |
| MLA | Wu, ZhengXing,et al."Towards an Esox lucius inspired multimodal robotic fish".SCIENCE CHINA-INFORMATION SCIENCES 58.5(2015). |
入库方式： OAI收割
来源：自动化研究所
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