Research on the implementation of average speed for a bionic robotic dolphin
Ren Guang1; Dai Yaping1; Cao Zhiqiang2; Shen Fei3
2015-12-01
发表期刊ROBOTICS AND AUTONOMOUS SYSTEMS
卷号74页码:184-194
文章类型Article
摘要This study proposes an average propulsive speed implementation approach for robotic dolphins theoretically and experimentally. First, it analyzes the motion feature of the robotic dolphin, and finds the strictly corresponding rule between tail's oscillating frequency and propulsive speed of robotic dolphin. A kinetic energy mapping coefficient (KEMC) is defined to extract the motion feature. Then, it establishes a kinematic feature equation based on the KEMC definition. The feature equation takes the KEMC as a feature data, and describes a kinetic energy mapping relation for robotic dolphin's motion. Furthermore, by applying the feature equation and KEMC data, it designs an iterative learning identification and adaptive control solution to adjust automatically the average propulsive speed. Simulations prove the system's convergence and speed adjustment effectiveness. Experiments have been performed in two steps. One, a series of KEMC values are identified through the offline identification, and the distribution of KEMCs is partially known; second, a closed loop control experiment reaches the expected speed target. This study shows that the average speed implementation method based KEMC converts the speed control issue into one kind of pure control problem, and it helps robotic dolphin obtain learning ability and adaptive ability. (C) 2015 Elsevier B.V. All rights reserved.
关键词Robotic Dolphin Kemc Average Speed Iterative Learning Identification Adaptive Control
WOS标题词Science & Technology ; Technology
DOI10.1016/j.robot.2015.07.014
关键词[WOS]FISH ; SIMULATIONS ; DYNAMICS ; DESIGN
收录类别SCI
语种英语
WOS研究方向Automation & Control Systems ; Computer Science ; Robotics
WOS类目Automation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics
WOS记录号WOS:000366070700016
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/10526
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
3.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
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Ren Guang,Dai Yaping,Cao Zhiqiang,et al. Research on the implementation of average speed for a bionic robotic dolphin[J]. ROBOTICS AND AUTONOMOUS SYSTEMS,2015,74:184-194.
APA Ren Guang,Dai Yaping,Cao Zhiqiang,&Shen Fei.(2015).Research on the implementation of average speed for a bionic robotic dolphin.ROBOTICS AND AUTONOMOUS SYSTEMS,74,184-194.
MLA Ren Guang,et al."Research on the implementation of average speed for a bionic robotic dolphin".ROBOTICS AND AUTONOMOUS SYSTEMS 74(2015):184-194.
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