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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
Source PublicationIEEE-ASME TRANSACTIONS ON MECHATRONICS
2018-08-01
Volume23Issue:4Pages:1641-1652
SubtypeArticle
AbstractDynamical 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.
KeywordBiologically Inspired Robots Marine Robotics Robot Dynamics Robotic Fish Three-dimensional (3-d) Modeling
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TMECH.2018.2848220
WOS KeywordUNDERWATER VEHICLES ; LOCOMOTION ; DESIGN ; HYDRODYNAMICS ; BODIES ; MOTION ; TAIL ; BODY
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(51575005 ; China Postdoctoral Science Foundation(2015M570013 ; 61503008 ; 2016T90016) ; 61633002 ; 91648120)
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000442347800015
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/21869
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.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
Recommended Citation
GB/T 7714
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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