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
专题复杂系统管理与控制国家重点实验室_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
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.
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