An improved multimodal robotic fish modelled after Esox lucius

	An improved multimodal robotic fish modelled after Esox lucius
	Wu Zhengxing; Yu Junzhi; Su Zongshuai; Tan Min
	2014
会议名称	IEEE International Conference on Robotics and Biomimetics
会议录名称	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
会议日期	2013
会议地点	Shenzhen, China
摘要	This paper focuses on a further exploration of multimodal locomotion governed by bio-inspired central pattern generators (CPGs). To pursue a better swimming performance, an updated robotic fish is constructed. Besides the improved hardware devices involving higher torque servomotors and powerful processors, some innovative mechanical designs are taken into consideration. Specifically, a well-streamlined shape like Esox lucius and a yawing head joint contribute to reduce hydrodynamic drag and strengthen turning ability. A pair of flexible pectoral fins with four degrees of freedom is to enhance the capability of three-dimensional locomotion and to enrich multiple swimming motions. Further discussion on how characteristic parameters in CPGs including frequency, amplitude, and phase relationship impact the swimming performance is also presented. Finally, the robotic fishsuccessfully gains more powerful capability of multimodal locomotion containing forward swimming, backward swimming, turning, diving, and ascending. The experimental results validate the effectiveness of mechanism design and adaptability of multimodal locomotion governed by CPGs.
关键词	Servomotors turning joints robot Kinematics oscillators hydrodynamics
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13049
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Wu Zhengxing
推荐引用方式 GB/T 7714	Wu Zhengxing,Yu Junzhi,Su Zongshuai,et al. An improved multimodal robotic fish modelled after Esox lucius[C],2014.