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Control and coordination of biomimetic robotic fish
Yu, Junzhi; Fang, Yimi; Zhao, Wei; Wang, Long
2005
会议名称IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
会议录名称IEEE IRS/RSJ International Conference on Intelligent Robots and Systems
会议日期August 2, 2005 - August 6, 2005
会议地点Edmonton, AB, Canada
摘要Investigation in biomimetic robotic fish is a multidisciplinary problem entirely involving hydrodynamics-based control and robotic technology. In this paper, grounded on an optimized kinematic propulsive model of fish that relate frequency to speed and joint angle bias to turns, a robotic fish and its motion control are designed. Information of multiple fishes' position and orientation, with real-time visual tracking, is then obtained for positioning in the coordinate experiment. The coordinate motions of the fishes are achieved by behavior-based strategies composed of role assignment, behavior selection and role transition. An experimental system for multiple robotic fishes' coordination is finally constructed to verify the proposed scheme and algorithms, and the running experiments of passing-hole and pushing-ball primarily show the effectiveness of the presented strategies.
关键词Biomimetic Robotic Fish Control And Coordination Motion Control Visual Tracking Behavioral Strategy
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13145
专题个人空间
通讯作者Yu, Junzhi
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,Fang, Yimi,Zhao, Wei,et al. Control and coordination of biomimetic robotic fish[C],2005.
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