Knowledge Commons of Institute of Automation,CAS
Dynamic modeling for a CPG-controlled amphibious biomimetic swimming robot | |
Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min | |
发表期刊 | International Journal of Advanced Robotic Systems |
2013 | |
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 | 复杂系统认知与决策实验室_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. |
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