Design framework and 3-D motion control for biomimetic robot fish

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	Design framework and 3-D motion control for biomimetic robot fish
	Yu, Junzhi; Wang, Long
	2005
会议名称	2005 IEEE International Symposium on Intelligent Control and 13th Mediterranean Conference on Control and Automation
会议录名称	IEEE International Symposium on Intelligent Control and 13th Mediterranean Conference on Control and Automation
会议日期	Jun 27 - 29 2005
会议地点	Limassol, Cyprus
摘要	This 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.
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13144
专题	个人空间
作者单位	Center for Systems and Control, Peking University, Beijing 100871, China
推荐引用方式 GB/T 7714	Yu, Junzhi,Wang, Long. Design framework and 3-D motion control for biomimetic robot fish[C],2005.