Knowledge Commons of Institute of Automation,CAS
Dynamic modeling of three-dimensional swimming for biomimetic robotic fish | |
Liu, Lizhong; Yu, Junzhi; 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, IROS |
会议日期 | October 9, 2006 - October 15, 2006 |
会议地点 | Beijing, China |
摘要 | This paper presents a three-dimensional, dynamic model of robotic fish which synthesizes both the carangiform and anguilliform swimming modes. The designed robotic fish is composed of three parts: stiff anterior body with a pair of pectoral fins for up-and-down motion, flexible rear body, and an oscillating lunate caudal fin. We use unsteady flow theory to analyze the motion of the anterior part and the links, and adopt experimental result from oscillating foil for the caudal fin. So the dynamic equation of each part can be obtained, and by summing up these equations, the dynamic equation for total swimming robot can be derived. The desired propulsive characteristics including forward velocity, sway velocity, pitch velocity, three velocity of Eulerian angles of the stiff anterior body, motion trajectory as well as propulsive efficiency can then be obtained by solving ordinary differential equation. The circular motion, based on asymmetrical kinematics of flexible rear body, can be achieved by adding different deflections to the oscillatory links. Comparisons between simulation results and real experiments are then conducted and discussed. A good agreement on dynamic characteristics demonstrates the validity of the proposed model. |
关键词 | Biomimetic Robotic Fish Three-dimensional Circular Motion Dynamic Model Bio-propulsion |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/13075 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Liu, Lizhong |
作者单位 | Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China.(2)Institute of Automation, Chinese Academy of Sciences, Beijing 100080, 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 | Liu, Lizhong,Yu, Junzhi,Wang, Long. Dynamic modeling of three-dimensional swimming for biomimetic robotic fish[C],2006. |
条目包含的文件 | 条目无相关文件。 |
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