Implementing flexible and fast turning maneuvers of a multijoint robotic fish

	Implementing flexible and fast turning maneuvers of a multijoint robotic fish
	Su, Zongshuai 1; Yu, Junzhi 1; Tan, Min 1; Zhang, Jianwei 2
发表期刊	IEEE/ASME Transactions on Mechatronics
	2014
卷号	19 期号:1 页码:329-338
摘要	This paper focuses mainly on the control issues of replicating fast C-start maneuvers commonly found in fish propelled by their bodies and/or caudal fins. To generate an escape maneuver that combines a high degree of flexibility and precision, major factors related to the caudal fins, the moving joints, and the used motors are explored. Specifically, the turning rate is maximized by finely designing the preparatory and propulsive stages, while the relatively precise turning angle is achieved by a closed-loop control strategy in the propulsive and variable stages. Different types of C-starts are extensively implemented and compared by using a four-joint robotic fish. The latest results obtained show that the robotic fish is able to execute C-starts flexibly with a turning angle of up to 213°, a top turning rate of approximately 670 °/s measured by the onboard gyroscope. Meanwhile, an upper limit of turning precision of less than 10° is achieved.
关键词	Swimming Control Bio-inspired Robot C-start Fast Turn Robotic Fish
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13095
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	1. State Key Laboratory of Intelligent Control and Management of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2. Department of Informatics, University of Hamburg, 22527 Hamburg, Germany
推荐引用方式 GB/T 7714	Su, Zongshuai ,Yu, Junzhi ,Tan, Min ,et al. Implementing flexible and fast turning maneuvers of a multijoint robotic fish[J]. IEEE/ASME Transactions on Mechatronics,2014,19(1):329-338.
APA	Su, Zongshuai ,Yu, Junzhi ,Tan, Min ,&Zhang, Jianwei .(2014).Implementing flexible and fast turning maneuvers of a multijoint robotic fish.IEEE/ASME Transactions on Mechatronics,19(1),329-338.
MLA	Su, Zongshuai ,et al."Implementing flexible and fast turning maneuvers of a multijoint robotic fish".IEEE/ASME Transactions on Mechatronics 19.1(2014):329-338.