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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
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
Indexed BySCI
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
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Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
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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