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Design and Control of a Single-Motor-Actuated Robotic Fish Capable of Fast Swimming and Maneuverability
Yu, Junzhi1,2; Zhang, Cheng1; Liu, Lianqing2
Source PublicationIEEE-ASME TRANSACTIONS ON MECHATRONICS
2016-06-01
Volume21Issue:3Pages:1711-1719
SubtypeArticle
AbstractThis paper deals with a novel fast swimming robotic fish capable of high maneuverability and yet with less joints. On the basis of prior work on a single-motoractuated miniature robotic fish, we mainly stress three aspects: mechanical design, motion analysis, and posture control to strike a tradeoff between speediness and maneuverability. Specifically, an improved mechanical structure endows the robot with large thrust and increased range of movements. Motion analysis offers useful guidance to parameter settings of steady swimming. Besides, sine-based functions responsible for generating travelingwaves in conjunction with an analysis of parameter variation of oscillation amplitude of the fish tail serve the purpose to determine the posture of the robotic fish. Underwater tests on straight swimming and different turns demonstrate the effectiveness of the proposed methods and mechatronic designs. Remarkably, the robot attained amaximumswimming speed of 1.14 m/s (corresponding to 3.07 body lengths per second) in forward swimming, a turning rate of approximately 90 degrees/s in normal turns, and a turning rate of approximately 63.8 degrees/s in hybrid turns.
KeywordBioinspired Robot Control Engineering Maneuverability Mechanical Design Swimming Robot
WOS HeadingsScience & Technology ; Technology
Subject Area控制理论与控制工程(先进机器人控制)
DOI10.1109/TMECH.2016.2517931
WOS KeywordLOCOMOTION ; TRACKING ; SYSTEMS ; MODELS
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61375102 ; Beijing Natural Science Foundation(3141002) ; State Key Laboratory of Robotics ; 61333016 ; 61573226)
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000375609900051
Citation statistics
Cited Times:11[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/11498
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China
2.Chinese Acad Sci, State Key Lab Robot, Shenyang Inst Automat, Shenyang 110016, Peoples R China
Recommended Citation
GB/T 7714
Yu, Junzhi,Zhang, Cheng,Liu, Lianqing. Design and Control of a Single-Motor-Actuated Robotic Fish Capable of Fast Swimming and Maneuverability[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2016,21(3):1711-1719.
APA Yu, Junzhi,Zhang, Cheng,&Liu, Lianqing.(2016).Design and Control of a Single-Motor-Actuated Robotic Fish Capable of Fast Swimming and Maneuverability.IEEE-ASME TRANSACTIONS ON MECHATRONICS,21(3),1711-1719.
MLA Yu, Junzhi,et al."Design and Control of a Single-Motor-Actuated Robotic Fish Capable of Fast Swimming and Maneuverability".IEEE-ASME TRANSACTIONS ON MECHATRONICS 21.3(2016):1711-1719.
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