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Design framework and 3-D motion control for biomimetic robot fish
Yu, Junzhi; Wang, Long
2005
Conference Name2005 IEEE International Symposium on Intelligent Control and 13th Mediterranean Conference on Control and Automation
Source PublicationIEEE International Symposium on Intelligent Control and 13th Mediterranean Conference on Control and Automation
Conference DateJun 27 - 29 2005
Conference PlaceLimassol, Cyprus
AbstractThis paper deals with the design and 3-D 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 design 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 3-D 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. The experimental results on designed prototypes verify that the presented scheme is effective in design and implementation.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13144
Collection个人空间
AffiliationCenter for Systems and Control, Peking University, Beijing 100871, China
Recommended Citation
GB/T 7714
Yu, Junzhi,Wang, Long. Design framework and 3-D motion control for biomimetic robot fish[C],2005.
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