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Dynamic modeling of a CPG-governed multijoint robotic fish
Yu, Junzhi; Wang, Ming; Su, Zongshuai; Tan, Min; Zhang, Jianwei
AbstractThis paper is devoted to the formulation of a dynamic model of a serially connected multijoint robotic fish with a pair of wing-like pectoral fins, in which the whole robot is treated as a moving multilink rigid body in fluids. Considering that the thrust of fish mainly results from the force of trailing vortex, added lateral pressure, and leading edge suction force, the dynamic equations of the swimming fish have been derived by summing up the longitudinal force, lateral force, and yaw moment on each propulsive component in the context of Lagrangian mechanics. Along with the bio-inspired central pattern generators (CPGs) as the locomotor controller, the overall dynamic propulsive characteristics of the swimming robot are then estimated in a mathematical environment (i.e. Mathematica). Finally, simulations and experiments are carried out to validate the effectiveness of the built dynamic model. Results demonstrate that the CPG-coupled dynamic model provides a fairly good guide to seeking pragmatic backward swimming patterns for a carangiform robotic fish. © 2013 Copyright Taylor & Francis and The Robotics Society of Japan.
KeywordDynamic Modeling Robotic Fish Motion Control Central Pattern Generator (Cpg) Backward Swimming
WOS HeadingsScience & Technology ; Technology
Indexed BySCI
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000315715100004
Citation statistics
Cited Times:15[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Corresponding AuthorYu, Junzhi
Recommended Citation
GB/T 7714
Yu, Junzhi,Wang, Ming,Su, Zongshuai,et al. Dynamic modeling of a CPG-governed multijoint robotic fish[J]. ADVANCED ROBOTICS,2013,27(4):275-285.
APA Yu, Junzhi,Wang, Ming,Su, Zongshuai,Tan, Min,&Zhang, Jianwei.(2013).Dynamic modeling of a CPG-governed multijoint robotic fish.ADVANCED ROBOTICS,27(4),275-285.
MLA Yu, Junzhi,et al."Dynamic modeling of a CPG-governed multijoint robotic fish".ADVANCED ROBOTICS 27.4(2013):275-285.
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