Dynamics and control of turning maneuver for biomimetic robotic fish

	Dynamics and control of turning maneuver for biomimetic robotic fish
	Yu, Junzhi; Liu, Lizhong; Wang, Long
	2006
会议名称	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
会议录名称	IEEE/RSJ International Conference on Intelligent Robots and Systems
会议日期	October 9, 2006 - October 15, 2006
会议地点	Beijing, China
摘要	This 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.
关键词	Biomimetic Robotic Fish Underwater Robot Maneuver Turning Control Path Planning.
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13071
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
作者单位	Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China.(2)Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Yu, Junzhi,Liu, Lizhong,Wang, Long. Dynamics and control of turning maneuver for biomimetic robotic fish[C],2006.