Three-Dimensional Modeling of a Fin-Actuated Robotic Fish With Multimodal Swimming
Wang, Wei1,2; Dai, Xia3; Li, Liang1; Gheneti, Banti H.2; Ding, Yang4; Yu, Junzhi5; Xie, Guangming1,6
2018-08-01
发表期刊IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷号23期号:4页码:1641-1652
文章类型Article
摘要Dynamical model is always an important factor in controller design for robots. Existing models of robotic fish typically incorporate only planar motion, rarely considering spatial motion. This paper formulates a complete three-dimensional (3-D) dynamic model for the robotic fish actuated by pectoral and caudal fins, in which the fluid forces mainly contain quasi-steady lift and drag, gravity and buoyancy, and waterjet strike force. The critical lift and drag of flapping fins are derived with an explicit 3-D angle of attack. Taking a bioinspired central pattern generator as the system actuation, our model can produce multi-modal maneuvers, including forward/backward swimming, turning, and ascending/descending, as well as complicated motions, such as rolling and spiraling. Motions simulated in a 3-D environment are experimentally validated with a free-swimming robotic fish. Furthermore, systematic comparisons between simulations and experiments are conducted over a wide range of the control parameter space for beating frequency, amplitude, and offset. The overall results demonstrate the effectiveness and the versatility of the developed 3-D dynamic model in the prediction of the robot trajectory, velocity, and attitude.
关键词Biologically Inspired Robots Marine Robotics Robot Dynamics Robotic Fish Three-dimensional (3-d) Modeling
WOS标题词Science & Technology ; Technology
DOI10.1109/TMECH.2018.2848220
关键词[WOS]UNDERWATER VEHICLES ; LOCOMOTION ; DESIGN ; HYDRODYNAMICS ; BODIES ; MOTION ; TAIL ; BODY
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(51575005 ; China Postdoctoral Science Foundation(2015M570013 ; 61503008 ; 2016T90016) ; 61633002 ; 91648120)
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:000442347800015
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/21869
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1.Peking Univ, Coll Engn, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
2.MIT, Dept Urban Studies & Planning, Cambridge, MA 02139 USA
3.Beihang Univ, Sch Elect & Informat Engn, Beijing 100191, Peoples R China
4.Beijing Computat Sci Res Ctr, Beijing 100094, Peoples R China
5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
6.Peking Univ, Inst Ocean Res, Beijing 100871, Peoples R China
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Wang, Wei,Dai, Xia,Li, Liang,et al. Three-Dimensional Modeling of a Fin-Actuated Robotic Fish With Multimodal Swimming[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2018,23(4):1641-1652.
APA Wang, Wei.,Dai, Xia.,Li, Liang.,Gheneti, Banti H..,Ding, Yang.,...&Xie, Guangming.(2018).Three-Dimensional Modeling of a Fin-Actuated Robotic Fish With Multimodal Swimming.IEEE-ASME TRANSACTIONS ON MECHATRONICS,23(4),1641-1652.
MLA Wang, Wei,et al."Three-Dimensional Modeling of a Fin-Actuated Robotic Fish With Multimodal Swimming".IEEE-ASME TRANSACTIONS ON MECHATRONICS 23.4(2018):1641-1652.
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