Knowledge Commons of Institute of Automation,CAS
A closed-loop method to generate fast C-start for a robotic fish | |
Su Zongshuai; Yu Junzhi; Tan Min; Zhang Jianwei | |
2011 | |
会议名称 | IEEE International Conference on Mechatronics and Automation |
会议录名称 | 2011 IEEE International Conference on Mechatronics and Automation, ICMA |
页码 | 365-370 |
会议日期 | 2011.08 |
会议地点 | Beijing, China |
摘要 | This paper presents a novel closed-loop method for a multilink robotic fish to mimic the C-start maneuver, in which the turning speed and precision are emphasized. The turning speed is maximized by carefully designed preparatory stage, and the turning precision is achieved by the feedback of the turning angle from a gyroscope and a new design of the propulsive stage. Different types of C-starts are studied, due to the different sizes of caudal fins, in order to achieve the highest turning angular velocity. All the proposed types of C-starts are experimented and compared using a four-joint robotic fish. The experimental results show a fastest angular velocity up to 200°/s and the distinctions between all these different types. |
关键词 | Biomemetics Robotics C-start |
收录类别 | EI |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/4827 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Su Zongshuai |
推荐引用方式 GB/T 7714 | Su Zongshuai,Yu Junzhi,Tan Min,et al. A closed-loop method to generate fast C-start for a robotic fish[C],2011:365-370. |
条目包含的文件 | 条目无相关文件。 |
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