Implementing Flexible and Fast Turning Maneuvers of a Multijoint Robotic Fish

	Implementing Flexible and Fast Turning Maneuvers of a Multijoint Robotic Fish
	Su, Zongshuai 1; Yu, Junzhi1 ; Tan, Min1 ; Zhang, Jianwei 2
发表期刊	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2014-02-01
卷号	19 期号:1 页码:329-338
文章类型	Article
摘要	This paper focuses mainly on the control issues of replicating fast C-start maneuvers commonly found in fish propelled by their bodies and/or caudal fins. To generate an escape maneuver that combines a high degree of flexibility and precision, major factors related to the caudal fins, the moving joints, and the used motors are explored. Specifically, the turning rate is maximized by finely designing the preparatory and propulsive stages, while the relatively precise turning angle is achieved by a closed-loop control strategy in the propulsive and variable stages. Different types of C-starts are extensively implemented and compared by using a four-joint robotic fish. The latest results obtained show that the robotic fish is able to execute C-starts flexibly with a turning angle of up to 213 degrees, a top turning rate of approximately 670 degrees/s measured by the onboard gyroscope. Meanwhile, an upper limit of turning precision of less than 10 degrees is achieved.
关键词	Bio-inspired Robot C-start Fast Turn Robotic Fish Swimming Control
WOS标题词	Science & Technology ; Technology
关键词[WOS]	START ESCAPE RESPONSE ; C-START ; BLUEGILL SUNFISH ; PERFORMANCE ; HYDRODYNAMICS ; PROPULSION ; KINEMATICS
收录类别	SCI
语种	英语
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:000330233600031
引用统计	被引频次：73[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/173211/3484
专题	复杂系统认知与决策实验室_先进机器人
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Intelligent Control & Management Co, Beijing 100190, Peoples R China 2.Univ Hamburg, Dept Informat, D-22527 Hamburg, Germany
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	Su, Zongshuai,Yu, Junzhi,Tan, Min,et al. Implementing Flexible and Fast Turning Maneuvers of a Multijoint Robotic Fish[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2014,19(1):329-338.
APA	Su, Zongshuai,Yu, Junzhi,Tan, Min,&Zhang, Jianwei.(2014).Implementing Flexible and Fast Turning Maneuvers of a Multijoint Robotic Fish.IEEE-ASME TRANSACTIONS ON MECHATRONICS,19(1),329-338.
MLA	Su, Zongshuai,et al."Implementing Flexible and Fast Turning Maneuvers of a Multijoint Robotic Fish".IEEE-ASME TRANSACTIONS ON MECHATRONICS 19.1(2014):329-338.