CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
A closed-loop method to generate fast C-start for a robotic fish
Su Zongshuai; Yu Junzhi; Tan Min; Zhang Jianwei
2011
Conference NameIEEE International Conference on Mechatronics and Automation
Source Publication2011 IEEE International Conference on Mechatronics and Automation, ICMA 
Pages365-370
Conference Date2011.08
Conference PlaceBeijing, China
AbstractThis 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.
KeywordBiomemetics Robotics C-start
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/4827
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorSu Zongshuai
Recommended Citation
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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