Knowledge Commons of Institute of Automation,CAS
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. |
条目包含的文件 | 条目无相关文件。 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论