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An Integrative Control Method for Bio-Inspired Dolphin Leaping: Design and Experiments
Yu, Junzhi; Su, Zongshuai; Wu, Zhengxing; Tan, Min
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
2016-05-01
Volume63Issue:5Pages:3108-3116
SubtypeArticle
AbstractThis 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.
KeywordBio-inspired Dolphin Leaping Experimental Verification Integrative Control Pitch Control
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TIE.2015.2511081
WOS KeywordROBOTIC FISH ; PID CONTROL ; ENERGY
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61375102 ; Beijing Natural Science Foundation(3141002) ; 61333016 ; 61421004 ; 61573226)
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000374164600044
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12214
Collection复杂系统管理与控制国家重点实验室_先进机器人
AffiliationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
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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