CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Dynamics and control of turning maneuver for biomimetic robotic fish
Yu, Junzhi; Liu, Lizhong; Wang, Long
2006
Conference Name2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Source PublicationIEEE/RSJ International Conference on Intelligent Robots and Systems
Conference DateOctober 9, 2006 - October 15, 2006
Conference PlaceBeijing, China
AbstractThis paper deals with maneuver issues, in particular turning control of a free-swimming, multi-link biomimetic robotic fish propelled by a flexible rear body and oscillatory tail fin. Taking into account of both hydrodynamic model and engineering use, we develop a practical method to execute a circular maneuver. The turning control, based on asymmetrical kinematics and dynamics, can be achieved by adding different deflections to the oscillatory links. The characteristic parameters affecting turning performance include magnitude, position, and time of the deflections applied to the links, which are discussed with a series of simulation calculations. The experiments of circular motion with a four-link, infrared-sensor-equipped robotic fish acquire a satisfactory maneuverability. Moreover, the feasibility of adding deflection angles to maneuver the robotic fish in the path planning is explored both analytically and experimentally.
KeywordBiomimetic Robotic Fish Underwater Robot Maneuver Turning Control Path Planning.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13071
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu, Junzhi
AffiliationInstitute of Automation, Chinese Academy of Sciences, Beijing 100080, China.(2)Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China
Recommended Citation
GB/T 7714
Yu, Junzhi,Liu, Lizhong,Wang, Long. Dynamics and control of turning maneuver for biomimetic robotic fish[C],2006.
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