|吴正兴; 喻俊志; 苏宗帅; 谭民
|其他摘要||This paper is devoted to the S-start maneuvers for a biomimetic robotic fish using the body and/or caudal fin (BCF) mode. Taking account of morphological characteristics of Esox masquinongy in S-start and basic principles on fluid dynamics, an S-start control method for a multijoint robotic fish is developed. Specifically, two stages of S-start are further identified: (i) Bending stage: To ensure the maximum turning speed, fish increases the effective area in the posterior which is far from the rotation center to gain the maximum moment. At this point, fish bends its body into S-sharp. The other benefit from the S-sharp is to reduce the movement of center of gravity, thus helping keep body balance and strengthen the body stability in turning. Under the action of turning moment, the fish turns to the goal direction quickly. (ii) Unbending stage: An L-shift method is designed to obtain main propulsive force. In this method, there are always some bending joints perpendicular to the swimming direction to provide the force. At the same time, fuzzy logic method is adopted to control the turning action of unbending joints in a relative small angle to guarantee the turning accuracy. At the end of S-start, CPG is employed to smoothly switch to the steady swimming. In order to ensure the swimming direction and obtain the major propulsive force, small amplitudes and high frequency for CPG are adopted at the beginning. Then, relatively large amplitudes and low frequency are chosen in steady swimming. At last, the experimental results on a four-joint robotic fish demonstrate the validity of this method, where the robot attained a maximum turning speed of 318.08±9.20°/s and a turning accuracy of 1.03±0.48°. The results obtained will shed light on the enhancement of the maneuverability of the swimming robots.|
吴正兴,喻俊志,苏宗帅,等. 仿生机器鱼S形起动的控制与实现[J]. 自动化学报,2013,39(11):1914-1922.
吴正兴,et al."仿生机器鱼S形起动的控制与实现".自动化学报 39.11(2013):1914-1922.