An Integrative Control Method for Bio-Inspired Dolphin Leaping: Design and Experiments

doi:10.1109/TIE.2015.2511081

	An Integrative Control Method for Bio-Inspired Dolphin Leaping: Design and Experiments
	Yu, Junzhi; Su, Zongshuai; Wu, Zhengxing; Tan, Min
发表期刊	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2016-05-01
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
DOI	10.1109/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：27[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	复杂系统认知与决策实验室_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
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Yu, Junzhi,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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