CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Precise planar motion measurement of a swimming multi-joint robotic fish
Yuan, Jun; Yu, Junzhi; Wu, Zhengxing; Tan, Min
Source PublicationSCIENCE CHINA-INFORMATION SCIENCES
2016-09-01
Volume59Issue:9Pages:092208:1–092208:15
SubtypeArticle
AbstractThis paper presents a method for planar motion measurement of a swimming multi-joint robotic fish. The motion of the robotic fish is captured via image sequences and a proposed tracking scheme is employed to continuously detect and track the robotic fish. The tracking scheme initially acquires a rough scope of the robotic fish and thereafter precisely locates it. Historical motion information is utilized to determine the rough scope, which can speed up the tracking process and avoid possible ambient interference. A combination of adaptive bilateral filtering and k-means clustering is then applied to segment out color markers accurately. The pose of the robotic fish is calculated in accordance with the centers of these markers. Further, we address the problem of time synchronization between the on-board motion control system of the robotic fish and the motion measurement system. To the best of our knowledge, this problem has not been tackled in previous research on robotic fish. With information about both the multi-link structure and motion law of the robotic fish, we convert the problem to a nonlinear optimization problem, which we then solve using the particle swarm optimization (PSO) algorithm. Further, smoothing splines are adopted to fit curves of poses versus time, in order to obtain a continuous motion state and alleviate the impact of noise. Velocity is acquired via a temporal derivative operation. The results of experiments conducted verify the efficacy of the proposed method.
KeywordMotion Measurement Robotic Fish Time Synchronization Visual Tracking Localization
WOS HeadingsScience & Technology ; Technology
DOI10.1007/s11432-015-5497-1
WOS KeywordTIME SYNCHRONIZATION ; MANEUVERS
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61375102 ; Beijing Natural Science Foundation(3141002) ; State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources(LAPS16006) ; 61333016 ; 61421004)
WOS Research AreaComputer Science
WOS SubjectComputer Science, Information Systems
WOS IDWOS:000389031000012
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13357
Collection复杂系统管理与控制国家重点实验室_先进机器人
AffiliationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
First Author AffilicationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Yuan, Jun,Yu, Junzhi,Wu, Zhengxing,et al. Precise planar motion measurement of a swimming multi-joint robotic fish[J]. SCIENCE CHINA-INFORMATION SCIENCES,2016,59(9):092208:1–092208:15.
APA Yuan, Jun,Yu, Junzhi,Wu, Zhengxing,&Tan, Min.(2016).Precise planar motion measurement of a swimming multi-joint robotic fish.SCIENCE CHINA-INFORMATION SCIENCES,59(9),092208:1–092208:15.
MLA Yuan, Jun,et al."Precise planar motion measurement of a swimming multi-joint robotic fish".SCIENCE CHINA-INFORMATION SCIENCES 59.9(2016):092208:1–092208:15.
Files in This Item: Download All
File Name/Size DocType Version Access License
Precise planar motio(1056KB)期刊论文作者接受稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Yuan, Jun]'s Articles
[Yu, Junzhi]'s Articles
[Wu, Zhengxing]'s Articles
Baidu academic
Similar articles in Baidu academic
[Yuan, Jun]'s Articles
[Yu, Junzhi]'s Articles
[Wu, Zhengxing]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Yuan, Jun]'s Articles
[Yu, Junzhi]'s Articles
[Wu, Zhengxing]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Precise planar motion measurement of a swimming multi-joint robotic fish.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.