|Swimming simulation and system implementation of a multilink robotic fish|
|Yu Junzhi; Tan Min; Zhang Jianwei
|发表期刊||International Journal of Information and Systems Sciences
|摘要||This paper is devoted to the development of a multilink Digital Fish Simulator (DFS), with the emphasis on creating a controlled kinematic centered environment to further shed light on how to design and control artificial fishlike robots (i.e., robotic fishes). Compared to a 3D simulator for autonomous robotic fish by Liu and Hu, an improved body wave equation capable of multimodal swimming motions is adopted in our simulator and artificial swimming data can be further imported enabling various fictive swimming patterns. Furthermore, the swimming data generated from the simulator can directly be fed into the robotic fish for physical verification, and vice versa. More importantly, a series of robotic prototypes with different functions have been built to validate our well-formed ideas and to attain a new level of performance close to real fish.|
Yu Junzhi,Tan Min,Zhang Jianwei. Swimming simulation and system implementation of a multilink robotic fish[J]. International Journal of Information and Systems Sciences,2010,6(4):365-376.
Yu Junzhi,Tan Min,&Zhang Jianwei.(2010).Swimming simulation and system implementation of a multilink robotic fish.International Journal of Information and Systems Sciences,6(4),365-376.
Yu Junzhi,et al."Swimming simulation and system implementation of a multilink robotic fish".International Journal of Information and Systems Sciences 6.4(2010):365-376.