Dynamic Modeling and Its Application for a CPG-Coupled Robotic Fish

	Dynamic Modeling and Its Application for a CPG-Coupled Robotic Fish
	Yu Junzhi; Wang Ming; Su Zongshuai; Tan Min; Zhang Jianwei
	2011
会议名称	IEEE International Conference on Robotics and Automation
会议录名称	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
卷号	2016 IEEE International Conference on Robotics and Automation, ICRA 2011
页码	2015 IEEE International Conference on Robotics and Automation, ICRA 2011
会议日期	2011.05
会议地点	Shanghai, China
出版地	2013 IEEE International Conference on Robotics and Automation, ICRA 2011
出版者	2012 IEEE International Conference on Robotics and Automation, ICRA 2011
摘要	In this paper, we present the formulation of a dynamic model of a free-swimming multi-joint robotic fish with a pair of wing-like pectoral fins, in which the whole robot is regarded as a moving multilink rigid body in fluids. Considering that the thrust of fish mainly results from the force of trailing vortex, added lateral pressure, and leading-edge suction force, the dynamic equations of the swimming fish have been derived by summing up the longitudinal force, lateral force, and yaw moment on each propulsive component in the framework of Lagrangian mechanics. Furthermore, using the bio-inspired Central Pattern Generators (CPGs) as the swimming data generator, the overall dynamicpropulsive characteristics of the swimming robot are estimated in a mathematical environment (i.e., Mathematica). As a case study, the created dynamic model offers a good guide to seeking pragmatic backward swimming patterns for a carangiform robotic fish, which exemplifies the validity of the CPG-coupled dynamic model.
关键词	robot Kinematics Joints oscillators force dynamics mathematical Model
收录类别	ISTP
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/4926
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
推荐引用方式 GB/T 7714	Yu Junzhi,Wang Ming,Su Zongshuai,et al. Dynamic Modeling and Its Application for a CPG-Coupled Robotic Fish[C]. 2013 IEEE International Conference on Robotics and Automation, ICRA 2011:2012 IEEE International Conference on Robotics and Automation, ICRA 2011,2011:2015 IEEE International Conference on Robotics and Automation, ICRA 2011.