A framework for biomimetic robot fish's design and its realization

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	A framework for biomimetic robot fish's design and its realization
	Yu, Junzhi1 ; Wang, Long 1; Tan, Min2
	2005
会议名称	2005 American Control Conference, ACC
会议录名称	American Control Conference, ACC
会议日期	June 8, 2005 - June 10, 2005
会议地点	Portland, OR, United states
摘要	This paper is concerned with the design and motion control of a radio-controlled, multi-link and free-swimming biomimetic robot fish based on an improved kinematic propulsive model. The performance of the robot fish is determined by the fish's both morphological parameters and kinematic parameters. By ichthyologic theories of propulsion, a framework taking into consideration of both mechatronic constraints in physical realization and feasibility of control methods is presented, where multiple linked robot fish propelled by a flexible posterior body and an oscillating tail fin can be easily developed. The motion control of robot fish is decomposed into speed control, orientation control and submerging/ascending control. The speed of the swimming fish can be adjusted by changing oscillating frequency, oscillating amplitude and the length of oscillatory part, respectively, and its orientation is tuned by different joint's deflections. The up-down motion is realized by a pectoral mechanism. Our robot fish prototypes verify that the presented scheme is effective in design and implementation.
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13143
专题	个人空间
通讯作者	Yu, Junzhi
作者单位	1.Center for Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing 100871 2.Complex Systems and Intelligent Sciences, Institute of Automation, Chinese Academy of Sciences, Beijing 100080
推荐引用方式 GB/T 7714	Yu, Junzhi,Wang, Long,Tan, Min. A framework for biomimetic robot fish's design and its realization[C],2005.