An Integrative Control Method for Bio-Inspired Dolphin Leaping: Design and Experiments
Yu, Junzhi; Su, Zongshuai; Wu, Zhengxing; Tan, Min
2016-05-01
发表期刊IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷号63期号:5页码:3108-3116
文章类型Article
摘要This paper presents the design and implementation of leaping control methods for replicating highspeed dolphin leaping behavior. With full consideration of both mechanical configuration and propulsive principle of a physical robot comprising one neck joint, two propulsive joints, and a pair of two-degrees-of-freedom (2-DOF) mechanical flippers, closed-loop pitch, roll, yaw, and depth control methods are integrated to accomplish precise attitude control. Specifically, two pitch control strategies are proposed to separately satisfy small and large pitch requirements based on the real-time feedback of the pitch angle, while the roll controller is further implemented as a proportional-integral-derivative (PID) loop. A combination of pitch and roll control is utilized to regulate the desired pitch maneuvers. Finally, a parameterized five-phase leaping control algorithm instead of Weihs's three-phase porpoising model is implemented on the self-contained real robot, enabling the examination of biological leaping phenomena which are hard to observe or measure. Latest experimental results reveal that besides high speeds exceeding the minimum exit speeds, the pitch control closely related to pitch angle and submersion depth is another critical factor contributing to effective dolphin leaping.
关键词Bio-inspired Dolphin Leaping Experimental Verification Integrative Control Pitch Control
WOS标题词Science & Technology ; Technology
DOI10.1109/TIE.2015.2511081
关键词[WOS]ROBOTIC FISH ; PID CONTROL ; ENERGY
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) ; 61333016 ; 61421004 ; 61573226)
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号WOS:000374164600044
引用统计
被引频次:10[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/173211/12214
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
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Yu, Junzhi,Su, Zongshuai,Wu, Zhengxing,et al. An Integrative Control Method for Bio-Inspired Dolphin Leaping: Design and Experiments[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2016,63(5):3108-3116.
APA Yu, Junzhi,Su, Zongshuai,Wu, Zhengxing,&Tan, Min.(2016).An Integrative Control Method for Bio-Inspired Dolphin Leaping: Design and Experiments.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,63(5),3108-3116.
MLA Yu, Junzhi,et al."An Integrative Control Method for Bio-Inspired Dolphin Leaping: Design and Experiments".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 63.5(2016):3108-3116.
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