Design and Control of a Single-Motor-Actuated Robotic Fish Capable of Fast Swimming and Maneuverability

doi:10.1109/TMECH.2016.2517931

	Design and Control of a Single-Motor-Actuated Robotic Fish Capable of Fast Swimming and Maneuverability
	Yu, Junzhi1,2 ; Zhang, Cheng1 ; Liu, Lianqing 2
发表期刊	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2016-06-01
卷号	21 期号:3 页码:1711-1719
文章类型	Article
摘要	This 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.
关键词	Bioinspired Robot Control Engineering Maneuverability Mechanical Design Swimming Robot
WOS标题词	Science & Technology ; Technology
学科领域	控制理论与控制工程（先进机器人控制）
DOI	10.1109/TMECH.2016.2517931
关键词[WOS]	LOCOMOTION ; TRACKING ; SYSTEMS ; MODELS
收录类别	SCI
语种	英语
项目资助者	National Natural Science Foundation of China(61375102 ; Beijing Natural Science Foundation(3141002) ; State Key Laboratory of Robotics ; 61333016 ; 61573226)
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号	WOS:000375609900051
引用统计	被引频次：54[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/11498
专题	复杂系统认知与决策实验室_先进机器人
作者单位	1.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
第一作者单位	中国科学院自动化研究所
推荐引用方式 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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