On a Miniature Free-swimming Robotic Fish with Multiple Sensors

doi:10.5772/62887

	On a Miniature Free-swimming Robotic Fish with Multiple Sensors
	Yu, Junzhi1 ; Chen, Shifeng 1; Wu, Zhengxing1 ; Wang, Weibing 2
发表期刊	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2016-04-01
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
DOI	10.5772/62887
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：25[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	复杂系统认知与决策实验室_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
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Yu, Junzhi,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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