CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Swimming performance of a robotic fish in both straight swimming and making a turn
Zhang, Cheng; Yu, Junzhi; Tan, Min
2015
Conference Name12th IEEE International Conference on Mechatronics and Automation, ICMA 2015
Source Publication2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
Conference DateDec. 3, 2016– Dec. 7, 2016
Conference PlaceBeijing, China
AbstractIn this paper, we present a novel robotic fish capable of maneuverability and yet with less joints. The maneuverability of the robotic fish is researched on two aspects: straight swimming and performing a turn before which, the mechanical structure, dynamic formula and posture of robotic fish are respectively designed and analyzed. Besides, the CPG-based control and the analysis of variation regulation in the oscillation amplitude of the fishtail are combined to determine the posture of the robotic fish. Next, underwater tests are performed on the robotic fish for collecting the data which provides the information to draw many conclusions. 
KeywordManeuverability Mechanical Structure Dynamic Formula Posture Cpg Model Oscillation Amplitude
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13037
Collection复杂系统管理与控制国家重点实验室_先进机器人
AffiliationState Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China
Recommended Citation
GB/T 7714
Zhang, Cheng,Yu, Junzhi,Tan, Min. Swimming performance of a robotic fish in both straight swimming and making a turn[C],2015.
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