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A Bio-Inspired Robot With Undulatory Fins and Its Control Methods
Wang, Shuo; Wang, Yu; Wei, Qingping; Tan, Min; Yu, Junzhi
Source PublicationIEEE-ASME TRANSACTIONS ON MECHATRONICS
2017-02-01
Volume22Issue:1Pages:206-216
SubtypeArticle
AbstractThis 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.
KeywordBio-inspired Robot Course Control Depth Control Waypoint Tracking
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TMECH.2016.2622761
WOS KeywordFISH ; DESIGN ; PERFORMANCE ; LOCOMOTION
Indexed BySCI
Language英语
Funding OrganizationNational 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 Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000395750100022
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/14395
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
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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