CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
An improved multimodal robotic fish modelled after Esox lucius
Wu Zhengxing; Yu Junzhi; Su Zongshuai; Tan Min
Conference NameIEEE International Conference on Robotics and Biomimetics
Source Publication2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Conference Date2013
Conference PlaceShenzhen, China
AbstractThis 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.
KeywordServomotors  turning  joints  robot Kinematics  oscillators  hydrodynamics
Document Type会议论文
Corresponding AuthorWu Zhengxing
Recommended Citation
GB/T 7714
Wu Zhengxing,Yu Junzhi,Su Zongshuai,et al. An improved multimodal robotic fish modelled after Esox lucius[C],2014.
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