CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Implementing Flexible and Fast Turning Maneuvers of a Multijoint Robotic Fish
Su, Zongshuai1; Yu, Junzhi1; Tan, Min1; Zhang, Jianwei2
Source PublicationIEEE-ASME TRANSACTIONS ON MECHATRONICS
2014-02-01
Volume19Issue:1Pages:329-338
SubtypeArticle
AbstractThis 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.
KeywordBio-inspired Robot C-start Fast Turn Robotic Fish Swimming Control
WOS HeadingsScience & Technology ; Technology
WOS KeywordSTART ESCAPE RESPONSE ; C-START ; BLUEGILL SUNFISH ; PERFORMANCE ; HYDRODYNAMICS ; PROPULSION ; KINEMATICS
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000330233600031
Citation statistics
Cited Times:32[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/3484
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.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
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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.
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