Design and control of a fish-inspired multimodal swimming robot

	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	复杂系统认知与决策实验室_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.