Knowledge Commons of Institute of Automation,CAS
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 | 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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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
1000015420571.pdf(107KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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