Kinematic comparison of forward and backward swimming and maneuvering in a self-propelled sub-carangiform robotic fish
Wu, Zhengxing 1; Yu, Junzhi 1; Tan, Min 1; Zhang, Jianwei 2
2014
发表期刊Journal of Bionic Engineering
卷号11期号:2页码:199-212
摘要We make a thorough kinematic comparison of forward and backward swimming and maneuvering on a self-propelled robot platform that uses sub-carangiform swimming as the primary propulsor. An improved Central Pattern Generator (CPG) model allowing free adjustment of phase relationship and directional bias is employed to achieve flexible swimming and smooth transition. Considering the characteristics of forward swimming incarangiform fish and backward swimming in anguilliform fish, various backward swimming patterns for the sub-carangiform robotic fish are suitably created by reversing the direction of propagating propulsive waves. Through a combined use of the CPG control and closed-loop swimming direction control strategy, flexible and precise turning maneuvers in both forward and backward swimming are implemented and compared. By contrast with forward swimming, backward swimming requires a higher frequency or an increased lateral displacement to reach the same relative swimmingspeed. Noticeably, the phase difference shows a greater impact on forward swimming than on backward swimming. Our observations also indicate that the robotic fish achieves a larger turning rate in forward maneuvering than in backward maneuvering, yet these two maneuvers display comparable turning precision. 
关键词Robotic Fish Backward Swimming Central Pattern Generator (Cpg) Swimming Locomotion Control
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/13096
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1. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
2. Department of Informatics, University of Hamburg, Hamburg, Germany
推荐引用方式
GB/T 7714
Wu, Zhengxing ,Yu, Junzhi ,Tan, Min ,et al. Kinematic comparison of forward and backward swimming and maneuvering in a self-propelled sub-carangiform robotic fish[J]. Journal of Bionic Engineering,2014,11(2):199-212.
APA Wu, Zhengxing ,Yu, Junzhi ,Tan, Min ,&Zhang, Jianwei .(2014).Kinematic comparison of forward and backward swimming and maneuvering in a self-propelled sub-carangiform robotic fish.Journal of Bionic Engineering,11(2),199-212.
MLA Wu, Zhengxing ,et al."Kinematic comparison of forward and backward swimming and maneuvering in a self-propelled sub-carangiform robotic fish".Journal of Bionic Engineering 11.2(2014):199-212.
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