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On a Miniature Free-swimming Robotic Fish with Multiple Sensors
Yu, Junzhi1; Chen, Shifeng1; Wu, Zhengxing1; Wang, Weibing2
Source PublicationINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
2016-04-01
Volume13Issue:6Pages:91-100
SubtypeArticle
AbstractBio-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.
KeywordBio-inspired Robot Swimming Control Robotic Fish Multi-sensor Underwater Robotics
WOS HeadingsScience & Technology ; Technology
DOI10.5772/62887
WOS KeywordCENTRAL PATTERN GENERATOR ; LOCOMOTION ; IMPLEMENTATION ; OSCILLATORS ; MODELS
Indexed BySCI
Language英语
Funding OrganizationNational 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 Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000374338300002
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12204
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu, Junzhi
Affiliation1. 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
Recommended Citation
GB/T 7714
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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