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Kinematic Comparison of Forward and Backward Swimming and Maneuvering in a Self-Propelled Sub-Carangiform Robotic Fish
Wu, Zhengxing1; Yu, Junzhi1; Tan, Min1; Zhang, Jianwei2
Source PublicationJOURNAL OF BIONIC ENGINEERING
2014-04-01
Volume11Issue:2Pages:199-212
SubtypeArticle
AbstractWe make a thorough kinematic comparison of forward and backward swimming and maneuvering on a self-propelled robot platform that uses sub-carangiform swimming as the primary propulsor. An improved Central Pattern Generator (CPG) model allowing free adjustment of phase relationship and directional bias is employed to achieve flexible swimming and smooth transition. Considering the characteristics of forward swimming in carangiforrn fish and backward swimming in anguilliform fish, various backward swimming patterns for the sub-carangiform robotic fish are suitably created by reversing the direction of propagating propulsive waves. Through a combined use of the CPG control and closed-loop swimming direction control strategy, flexible and precise turning maneuvers in both forward and backward swimming are implemented and compared. By contrast with forward swimming, backward swimming requires a higher frequency or an increased lateral displacement to reach the same relative swimming speed. Noticeably, the phase difference shows a greater impact on forward swimming than on backward swimming. Our observations also indicate that the robotic fish achieves a larger turning rate in forward maneuvering than in backward maneuvering, yet these two maneuvers display comparable turning precision.
KeywordRobotic Fish Backward Swimming Central Pattern Generator (Cpg) Swimming Locomotion Control
WOS HeadingsScience & Technology ; Technology
WOS KeywordCENTRAL PATTERN GENERATOR ; LOCOMOTION ; ANIMALS ; LAMPREY ; DESIGN
Indexed BySCI
Language英语
WOS Research AreaEngineering ; Materials Science ; Robotics
WOS SubjectEngineering, Multidisciplinary ; Materials Science, Biomaterials ; Robotics
WOS IDWOS:000335123300004
Citation statistics
Cited Times:20[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/3501
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 Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Hamburg, Dept Informat, Hamburg, Germany
First Author AffilicationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Wu, Zhengxing,Yu, Junzhi,Tan, Min,et al. Kinematic Comparison of Forward and Backward Swimming and Maneuvering in a Self-Propelled Sub-Carangiform Robotic Fish[J]. JOURNAL OF BIONIC ENGINEERING,2014,11(2):199-212.
APA Wu, Zhengxing,Yu, Junzhi,Tan, Min,&Zhang, Jianwei.(2014).Kinematic Comparison of Forward and Backward Swimming and Maneuvering in a Self-Propelled Sub-Carangiform Robotic Fish.JOURNAL OF BIONIC ENGINEERING,11(2),199-212.
MLA Wu, Zhengxing,et al."Kinematic Comparison of Forward and Backward Swimming and Maneuvering in a Self-Propelled Sub-Carangiform Robotic Fish".JOURNAL OF BIONIC ENGINEERING 11.2(2014):199-212.
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