On a Miniature Free-swimming Robotic Fish with Multiple Sensors
Yu, Junzhi1; Chen, Shifeng1; Wu, Zhengxing1; Wang, Weibing2
2016-04-01
发表期刊INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
卷号13期号:6页码:91-100
文章类型Article
摘要Bio-inspired robotic fish hold strong promise for underwater missions. This paper deals with the design and control issues of a miniature free-swimming robotic fish with multiple sensors. Specifically, a synthesized mechanical design scheme mainly relying on a two-link serial mechanism and a pair of mechanical pectoral fins is first presented. Next, a bio-inspired Central Pattern Generator (CPG) based control method aided by feedback information from multiple sensors of various types to achieve three-dimensional swimming is proposed. Finally, experimental results on the 35-centimetre-long robotic fish verify the efficacy of the proposed mechatronic design and control methods. It is found that the CPG control combined withsensory information greatly contributes to swimming ability and intelligence of the robotic fish.
关键词Bio-inspired Robot Swimming Control Robotic Fish Multi-sensor Underwater Robotics
WOS标题词Science & Technology ; Technology
DOI10.5772/62887
关键词[WOS]CENTRAL PATTERN GENERATOR ; LOCOMOTION ; IMPLEMENTATION ; OSCILLATORS ; MODELS
收录类别SCI
语种英语
项目资助者National Science Foundation of China(61375102 ; Beijing Natural Science Foundation(4161002) ; National Defense Science and Technology Innovation Fund of Chinese Academy of Sciences(CXJJ-16M110) ; State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources(LAPS16006) ; 61333016 ; 61573226)
WOS研究方向Robotics
WOS类目Robotics
WOS记录号WOS:000374338300002
引用统计
被引频次:8[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/173211/12204
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Yu, Junzhi
作者单位1. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
2.Machine and Electricity Engineering College, Shihezi University, Shihezi, China
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Yu, Junzhi,Chen, Shifeng,Wu, Zhengxing,et al. On a Miniature Free-swimming Robotic Fish with Multiple Sensors[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2016,13(6):91-100.
APA Yu, Junzhi,Chen, Shifeng,Wu, Zhengxing,&Wang, Weibing.(2016).On a Miniature Free-swimming Robotic Fish with Multiple Sensors.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,13(6),91-100.
MLA Yu, Junzhi,et al."On a Miniature Free-swimming Robotic Fish with Multiple Sensors".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 13.6(2016):91-100.
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