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
专题复杂系统管理与控制国家重点实验室_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.
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