A Bio-Inspired Robot With Undulatory Fins and Its Control Methods | |
Wang, Shuo; Wang, Yu; Wei, Qingping; Tan, Min; Yu, Junzhi | |
发表期刊 | IEEE-ASME TRANSACTIONS ON MECHATRONICS |
2017-02-01 | |
卷号 | 22期号:1页码:206-216 |
文章类型 | Article |
摘要 | This paper proposes a bio-inspired robot with undulatory fins and summarizes its control methods. First, three basic motions, forward/backward swimming, diving/rising motion, and turning, are implemented and evaluated by experiments. Next, a hybrid control that combines active disturbance rejection control with a fuzzy strategy is presented to achieve closed-loop depth and course control according to the evaluation of the three basic motions. Finally, waypoint tracking with a line-of-sight guidance system based on a finite-state machine for this bio-inspired robot is presented. The results of swimming experiments are provided to illustrate the validity of the proposed methods. |
关键词 | Bio-inspired Robot Course Control Depth Control Waypoint Tracking |
WOS标题词 | Science & Technology ; Technology |
DOI | 10.1109/TMECH.2016.2622761 |
关键词[WOS] | FISH ; DESIGN ; PERFORMANCE ; LOCOMOTION |
收录类别 | SCI |
语种 | 英语 |
项目资助者 | National Natural Science Foundation of China(51175496 ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China(61421004) ; Beijing Natural Science Foundation(3141002) ; 61233014 ; 61333016) |
WOS研究方向 | Automation & Control Systems ; Engineering |
WOS类目 | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
WOS记录号 | WOS:000395750100022 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/14395 |
专题 | 复杂系统管理与控制国家重点实验室_先进机器人 |
作者单位 | Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Wang, Shuo,Wang, Yu,Wei, Qingping,et al. A Bio-Inspired Robot With Undulatory Fins and Its Control Methods[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2017,22(1):206-216. |
APA | Wang, Shuo,Wang, Yu,Wei, Qingping,Tan, Min,&Yu, Junzhi.(2017).A Bio-Inspired Robot With Undulatory Fins and Its Control Methods.IEEE-ASME TRANSACTIONS ON MECHATRONICS,22(1),206-216. |
MLA | Wang, Shuo,et al."A Bio-Inspired Robot With Undulatory Fins and Its Control Methods".IEEE-ASME TRANSACTIONS ON MECHATRONICS 22.1(2017):206-216. |
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