CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Dynamic Modelling of a CPG-Controlled Amphibious Biomimetic Swimming Robot
Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min
Source PublicationINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
2013-04-17
Volume10
SubtypeArticle
AbstractThis paper focuses on the modelling and control problems of a self-propelled, multimodal amphibious robot. Inspired by the undulatory body motions of fish and dolphins, the amphibious robot propels itself underwater by oscillations of several modular fish-like propelling units coupled with a pair of pectoral fins capable of non-continuous 360 degree rotation. In order to mimic fish-like undulating propulsion, a control architecture based on Central Pattern Generator (CPG) is applied to the amphibious robot for robust swimming gaits, including forward and backward swimming and turning, etc. With the simplification of the robot as a multi-link serial mechanism, a Lagrangian function is employed to establish the hydrodynamic model for steady swimming. The CPG motion control law is then imported into the Lagrangian-based dynamic model, where an associated system of kinematics and dynamics is formed to solve real-time movements and, further, to guide the exploration of the CPG parameters and steady locomotion gaits. Finally, comparative results between the simulations and experiments are provided to show the effectiveness of the built control models.
KeywordBiomimetics Dynamic Modeling Amphibious Swimming Robot
WOS HeadingsScience & Technology ; Technology
WOS KeywordWALKING ; LOCOMOTION
Indexed BySCI
Language英语
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000317590100002
Citation statistics
Cited Times:7[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/3494
Collection复杂系统管理与控制国家重点实验室_先进机器人
AffiliationChinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Ding, Rui,Yu, Junzhi,Yang, Qinghai,et al. Dynamic Modelling of a CPG-Controlled Amphibious Biomimetic Swimming Robot[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2013,10.
APA Ding, Rui,Yu, Junzhi,Yang, Qinghai,&Tan, Min.(2013).Dynamic Modelling of a CPG-Controlled Amphibious Biomimetic Swimming Robot.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,10.
MLA Ding, Rui,et al."Dynamic Modelling of a CPG-Controlled Amphibious Biomimetic Swimming Robot".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 10(2013).
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