CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Dynamic modeling of robotic fish using Schiehlen’s method
Yu, Junzhi; Liu, Lizhong; Wang, Long
2006
Conference Name2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Source PublicationIEEE International Conference on Robotics and Biomimetics, ROBIO
Conference DateDecember 17, 2006 - December 20, 2006
Conference PlaceKunming, China
Other AbstractThis paper provides a preliminary study on dynamic modeling of a multi-link robotic fish based on Schiehlen's multi-body dynamic equation. According to propulsive mechanism of real fish, the robotic fish propels itself using lateral oscillation and achieves a climb or descent maneuver employing a pair of pectoral fins. The designed robotic fish is mechanically composed of stiff anterior body, flexible rear body, and an oscillating lunate caudal fin, which can simply be viewed as an open, treed multi-body system. The kinematic analysis is then integrated with dynamic analysis to build complete dynamic equations in a form suited for controller design and computer simulation. Finally, simulations and experimental results are compared for straight swim and circular motion, which partially shows the validity of the proposed model.
KeywordRobotic Fish Dynamic Modeling Multi-body Dynamics Schiehlen Method
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13072
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. Dynamic modeling of robotic fish using Schiehlen’s method[C],2006.
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