Design and control of a fish-inspired multimodal swimming robot
Yu Junzhi; Wang Ming; Wang Weibing; Tan Min; Zhang Jianwei
2011
会议名称IEEE International Conference on Robotics and Automation
会议录名称2011 IEEE International Conference on Robotics and Automation, ICRA 2011
卷号2016 IEEE International Conference on Robotics and Automation, ICRA 2011
页码2015 IEEE International Conference on Robotics and Automation, ICRA 2011
会议日期2011.05
会议地点Shanghai, China
出版地2013 IEEE International Conference on Robotics and Automation, ICRA 2011
出版者2012 IEEE International Conference on Robotics and Automation, ICRA 2011
摘要Presented in this paper is our effort to create a multifunctional swimming robot, i.e., robotic fish, inspired by the well-integrated, configurable multiple control surfaces existing in real fish. By virtue of the hybrid propulsion capability in the tail plus the caudal fin and the maneuverability in accessory fins, a novel, synthesized propulsion scheme composed of multiple artificial control surfaces is proposed, involving the tail plus the caudal fin, pectoral fins, pelvic fin, and dorsal fin. Multimodal locomotion is then accomplished by manipulation of control surfaces, separately or cooperatively, allowing the robot to maneuver more diversely and agilely. In particular, bioinspired Central Pattern Generators (CPGs) based locomotion control is adopted for online swimming gait generation. Aquatic testing has been carried out to demonstrate the improved maneuverability and stability of the robotic fish underwater as well as the effectiveness of the conceived multi-fin mechatronic design.
关键词Propulsion  turning  oscillators  joints  robot Kinematics  surface Morphology
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13052
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Yu Junzhi
推荐引用方式
GB/T 7714
Yu Junzhi,Wang Ming,Wang Weibing,et al. Design and control of a fish-inspired multimodal swimming robot[C]. 2013 IEEE International Conference on Robotics and Automation, ICRA 2011:2012 IEEE International Conference on Robotics and Automation, ICRA 2011,2011:2015 IEEE International Conference on Robotics and Automation, ICRA 2011.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Yu Junzhi]的文章
[Wang Ming]的文章
[Wang Weibing]的文章
百度学术
百度学术中相似的文章
[Yu Junzhi]的文章
[Wang Ming]的文章
[Wang Weibing]的文章
必应学术
必应学术中相似的文章
[Yu Junzhi]的文章
[Wang Ming]的文章
[Wang Weibing]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。