Design and implementation of a robotic shark with a novel embedded vision system
Yang, Xiang; Wu Zhengxing; Yu Junzhi; Zhengxing Wu
2016
会议名称IEEE International Conference on Robotics and Biomimetics
会议录名称IEEE International Conference on Robotics and Biomimetics
会议日期Dec. 3, 2016– Dec. 7, 2016
会议地点Qingdao, China
摘要This paper focuses on the mechatronic design and control issues of a novel robotic shark with an embedded vision system. To pursue a better swimming performance, an updated robotic shark with more degrees of freedom (DOFs) is constructed. Specially, an optimized propulsive mechanism with three links is designed to fit a typical shark-like swimming and a pair of pectoral fins with two separate DOFs is employed to regulate both pitch attitude and roll attitude. In order to strengthen the capability of underwater perception, an embedded vision system is fixed in the robotic shark. Besides, a particular camera stabilizer with an Inertial Measurement Unit (IMU) is designed to counteract the head swing for high-quality images. Moreover, a CPGs-govern control strategy is adopted to realize various shark-like locomotion and further analysis are executed to explore the relationship between propulsive performance and some key characteristics of adopted CPGs. Finally, the robotic shark successfully realizes more flexible shark-like locomotion containing forward swimming, turning, diving and surfacing. The experimental results validate the effectiveness of the updated mechatronic design and adaptability of sharklike swimming governed by CPGs.
收录类别EI
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13036
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Zhengxing Wu
作者单位State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China
推荐引用方式
GB/T 7714
Yang, Xiang,Wu Zhengxing,Yu Junzhi,et al. Design and implementation of a robotic shark with a novel embedded vision system[C],2016.
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