Swimming performance of a robotic fish in both straight swimming and making a turn
Zhang, Cheng; Yu, Junzhi; Tan, Min
2015
会议名称12th IEEE International Conference on Mechatronics and Automation, ICMA 2015
会议录名称2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
会议日期Dec. 3, 2016– Dec. 7, 2016
会议地点Beijing, China
摘要In 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. 
关键词Maneuverability Mechanical Structure Dynamic Formula Posture Cpg Model Oscillation Amplitude
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13037
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
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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