Implementing high-maneuverability swimming with biomimetic robotic fish
Junzhi Yu; Zhengxing Wu; Zongshuai Su; Min Tan
2015
发表期刊Science Foundation In China
卷号23期号:4页码:69-80
摘要This paper presents the mechanical design and control of biomimetic robotic fish with high maneuverability. These robotic fish modelled after Esox lucius adopts multilink propulsive mechanism for high turning speed and small turning radius. According to the different tasks, these robotic fish are designed with decorated pectoral fins for two-dimensional horizon plane, or controllable pectoral fins with multi degrees of freedom for three-dimensional space. Through observing and analyzing the fast-start of natural fish, we separately developed corresponding control strategies for a dynamic trajectory tracking strategy based C-start and an L shape sliding method based S-start. Finally, a four-link robotic fish is able to execute C-start flexibly with a turning angle of up to 213°, a top turning rate of approximately 670 °/s, and an upper limit of turning precision of less than 10° and an S-start with a peak turning rate up to 318.08±9.20°/s. The experimental results verify the effectiveness of our developed robotic prototypes and also control approaches for C-start and S-start.
关键词Biomimetics Robotic Fish High Maneuverability Motion Control
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/15291
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Junzhi Yu
推荐引用方式
GB/T 7714
Junzhi Yu,Zhengxing Wu,Zongshuai Su,et al. Implementing high-maneuverability swimming with biomimetic robotic fish[J]. Science Foundation In China,2015,23(4):69-80.
APA Junzhi Yu,Zhengxing Wu,Zongshuai Su,&Min Tan.(2015).Implementing high-maneuverability swimming with biomimetic robotic fish.Science Foundation In China,23(4),69-80.
MLA Junzhi Yu,et al."Implementing high-maneuverability swimming with biomimetic robotic fish".Science Foundation In China 23.4(2015):69-80.
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