Design and implementation of a smart robotic shark with multi-sensors
Chen, Shifeng; Yu, Junzhi; Li, Xiangbin; Yuan, Jun
2015
会议名称18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015
会议录名称Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015
会议日期September 6, 2015 - September 9, 2015
会议地点HangZhou, China
摘要Smart intelligent robotic fish has shown promising advantage in underwater searching. This paper addresses the smart robotic shark design and control issues with multi-sensors. In particular, we propose a new design of a two-link mechanism robotic shark equipped with gyroscope, pressure sensor, infrared sensor, and light sensor. Then three-dimensional motion control, depth control, autonomous obstacle avoidance, and light navigation are developed. In particular, a bio-inspired Central Pattern Generator (CPG) based control method is adopted to smoothly control the robotic shark's locomotion in all the above realization. All motion control methods are implemented in real time with a hybrid control system based on embedded microprocessor (STMicroelectronics STM32F407). Latest aquatic experiments demonstrate a fairly good result in improving the robotic shark's intelligence. The developed scheme affords an alternative to smart robotic fish design in complex underwater environments. © 2015, World Scientific Publishing Co. Pte Ltd. All rights reserved.
关键词Robotic Shark Cpg Multi-sensors Motion Control
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13039
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
Chen, Shifeng,Yu, Junzhi,Li, Xiangbin,et al. Design and implementation of a smart robotic shark with multi-sensors[C],2015.
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