Knowledge Commons of Institute of Automation,CAS
Design and control of a two-motor-actuated tuna-inspired robot system | |
Du, Sheng1,2; Wu, Zhengxing1,2; Wang, Jian1,2; Qi, Suwen3; Yu, Junzhi1,4 | |
发表期刊 | IEEE Transactions on Systems, Man, and Cybernetics: Systems |
ISSN | 2168-2216 |
2019 | |
卷号 | 51期号:暂无页码:1-11 |
通讯作者 | Yu, Junzhi(junzhi.yu@ia.ac.cn) |
摘要 | This article presents the mechanical design and locomotion control of a novel tuna-inspired robot system for both fast swimming and high maneuverability. Mechanically, the developed robotic fish named CasiTuna comprises three important parts, i.e., an innovative two-motor-actuated propulsive mechanism, a buoyancy adjustment structure, and a pair of pectoral fins. Unlike most robotic fishes’ multiple concatenated links-based propulsive mechanism, CasiTuna’s two-motor-actuated one places both motors in the anterior body and utilizes a transmission system to achieve tuna-like lateral undulations. Meanwhile, the buoyancy adjustment mechanism in conjunction with pectoral fins endows the robot with the capability of three-dimensional maneuverability. Kinematic and dynamic analyses are further conducted to reveal the interactive hydrodynamic forces. Regarding the locomotion control method, a bio-inspired central pattern generatorbased controller is adopted to achieve multimodal swimming. In particular, two kinds of turning maneuvers are implemented and discussed. Aquatic experiments, including straight swimming, circular turning, and nearly static pitching validate the effectiveness of proposed mechatronic design and locomotion control methods. Remarkably, CasiTuna achieved a peak forward speed of 0.8 m/s (corresponding to 1.52 body lengths per second) and a minimum turning radius of less than 0.3 body lengths. |
关键词 | Bio-inspired robot fast swimming maneuverability robotic tuna underwater robot |
DOI | 10.1109/TSMC.2019.2944786 |
关键词[WOS] | FISH ; HYDROMECHANICS |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Key Research and Development Program of China[2017YFB1300103] ; National Natural Science Foundation of China[61725305] |
项目资助者 | National Key Research and Development Program of China ; National Natural Science Foundation of China |
WOS研究方向 | Automation & Control Systems ; Computer Science |
WOS类目 | Automation & Control Systems ; Computer Science, Cybernetics |
WOS记录号 | WOS:000673624500006 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
七大方向——子方向分类 | 智能控制 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/44714 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Yu, Junzhi |
作者单位 | 1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China 3.Department of Biomedical Engineering, School of Medicine, Shenzhen University, Shenzhen 518060, China 4.State Key Laboratory for Turbulence and Complex System, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing 100871, China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Du, Sheng,Wu, Zhengxing,Wang, Jian,et al. Design and control of a two-motor-actuated tuna-inspired robot system[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems,2019,51(暂无):1-11. |
APA | Du, Sheng,Wu, Zhengxing,Wang, Jian,Qi, Suwen,&Yu, Junzhi.(2019).Design and control of a two-motor-actuated tuna-inspired robot system.IEEE Transactions on Systems, Man, and Cybernetics: Systems,51(暂无),1-11. |
MLA | Du, Sheng,et al."Design and control of a two-motor-actuated tuna-inspired robot system".IEEE Transactions on Systems, Man, and Cybernetics: Systems 51.暂无(2019):1-11. |
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