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Research on the implementation of average speed for a bionic robotic dolphin
Ren Guang1; Dai Yaping1; Cao Zhiqiang2; Shen Fei3
Source PublicationROBOTICS AND AUTONOMOUS SYSTEMS
2015-12-01
Volume74Pages:184-194
SubtypeArticle
AbstractThis 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.
KeywordRobotic Dolphin Kemc Average Speed Iterative Learning Identification Adaptive Control
WOS HeadingsScience & Technology ; Technology
DOI10.1016/j.robot.2015.07.014
WOS KeywordFISH ; SIMULATIONS ; DYNAMICS ; DESIGN
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Computer Science ; Robotics
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics
WOS IDWOS:000366070700016
Citation statistics
Cited Times:6[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/10526
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.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
Recommended Citation
GB/T 7714
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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