Swimming performance of a robotic fish in both straight swimming and making a turn

	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	复杂系统认知与决策实验室_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
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	Zhang, Cheng,Yu, Junzhi,Tan, Min. Swimming performance of a robotic fish in both straight swimming and making a turn[C],2015.