CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Swimming simulation and system implementation of a multilink robotic fish
Yu Junzhi; Tan Min; Zhang Jianwei
Source PublicationInternational Journal of Information and Systems Sciences
2010
Volume6Issue:4Pages:365-376
AbstractThis 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.
KeywordKinematic Simulations System Implementation Fish Swimming Body Wave Robotic Fish
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13100
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu Junzhi
Recommended Citation
GB/T 7714
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.
APA 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.
MLA 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.
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