Swimming locomotion modeling for biomimetic underwater vehicle with two undulating long-fins
Shang, Liuji; Wang, Shuo; Tan, Min; Cheng, Long
发表期刊ROBOTICA
2012-10-01
卷号30期号:2012页码:913-923
文章类型Article
摘要

A biomimetic underwater vehicle, which is propelled by two undulating long-fins, is introduced in this paper. The undulating or oscillating movements of symmetrical long-fins cause the complex locomotion of biomimetic underwater vehicle. For convenience, three motion modes are proposed and considered firstly. Then an inertial unit is installed for collection of accelerations and angular velocity. The underwater vehicle's MIMO model is reduced into a SISO model by some simplifications. A sine wave function deduced from the long-fin's time-varying membrane is proposed and used as the input of the biomimetic underwater vehicle ARMA model, and velocity or angular velocity is considered as the model output. The algorithms based on recursive weighted least squares are applied for model parameter identification. Experiments carried out with a long-fin propelled underwater vehicle. The experimental results show that the proposed methods can build valid locomotion models for three motion modes efficiently.

关键词Biomimetic Underwater Vehicle Recursive Weighted Least Squares Modeling Parameter Identification
WOS标题词Science & Technology ; Technology
关键词[WOS]ROBOTIC FISH
收录类别SCI
语种英语
WOS研究方向Robotics
WOS类目Robotics
WOS记录号WOS:000308836100004
引用统计
被引频次:18[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/3414
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Chinese Acad Sci, Inst Automat, State Key Lab Intelligent Control & Management Co, Beijing 100190, Peoples R China
第一作者单位中国科学院自动化研究所
推荐引用方式
GB/T 7714
Shang, Liuji,Wang, Shuo,Tan, Min,et al. Swimming locomotion modeling for biomimetic underwater vehicle with two undulating long-fins[J]. ROBOTICA,2012,30(2012):913-923.
APA Shang, Liuji,Wang, Shuo,Tan, Min,&Cheng, Long.(2012).Swimming locomotion modeling for biomimetic underwater vehicle with two undulating long-fins.ROBOTICA,30(2012),913-923.
MLA Shang, Liuji,et al."Swimming locomotion modeling for biomimetic underwater vehicle with two undulating long-fins".ROBOTICA 30.2012(2012):913-923.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
3Swimming locomotion(1438KB)期刊论文作者接受稿开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Shang, Liuji]的文章
[Wang, Shuo]的文章
[Tan, Min]的文章
百度学术
百度学术中相似的文章
[Shang, Liuji]的文章
[Wang, Shuo]的文章
[Tan, Min]的文章
必应学术
必应学术中相似的文章
[Shang, Liuji]的文章
[Wang, Shuo]的文章
[Tan, Min]的文章
相关权益政策
暂无数据
收藏/分享
文件名: 3Swimming locomotion modeling for biomimetic.pdf
格式: Adobe PDF
此文件暂不支持浏览
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。