Dynamic modeling for a CPG-controlled amphibious biomimetic swimming robot
Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min
2013
发表期刊International Journal of Advanced Robotic Systems
卷号10期号:199页码:1–11
摘要his paper focuses on the modelling and control problems of a self-propelled, multimodal amphibious robot. Inspired by the undulatory body motions of fish and dolphins, the amphibious robot propels itself underwater by oscillations of several modular fish-like propelling units coupled with a pair of pectoral fins capable of non-continuous 360 degree rotation. In order to mimic fish-like undulating propulsion, a control architecture based on Central Pattern Generator (CPG) is applied to the amphibious robot for robust swimming gaits, including forward and backward swimming and turning, etc. With the simplification of the robot as a multi-link serial mechanism, a Lagrangian function is employed to establish the hydrodynamic model for steady swimming. The CPG motion control law is then imported into the Lagrangian-based dynamic model, where an associated system of kinematics and dynamics is formed to solve real-time movements and, further, to guide the exploration of the CPG parameters and steady locomotion gaits. Finally, comparative results between the simulations and experiments are provided to show the effectiveness of the built control models.
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/13098
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
推荐引用方式
GB/T 7714
Ding, Rui,Yu, Junzhi,Yang, Qinghai,et al. Dynamic modeling for a CPG-controlled amphibious biomimetic swimming robot[J]. International Journal of Advanced Robotic Systems,2013,10(199):1–11.
APA Ding, Rui,Yu, Junzhi,Yang, Qinghai,&Tan, Min.(2013).Dynamic modeling for a CPG-controlled amphibious biomimetic swimming robot.International Journal of Advanced Robotic Systems,10(199),1–11.
MLA Ding, Rui,et al."Dynamic modeling for a CPG-controlled amphibious biomimetic swimming robot".International Journal of Advanced Robotic Systems 10.199(2013):1–11.
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