Step Function Based Turning Maneuvers in Biomimetic Robotic Fish

	Step Function Based Turning Maneuvers in Biomimetic Robotic Fish
	Yu Junzhi; Wang Ming; Tan Min; Li Y. F.
	2009
会议名称	IEEE International Conference on Robotics and Automation
会议录名称	2009 IEEE International Conference on Robotics and Automation, ICRA '09
页码	331-336
会议日期	2009.05
会议地点	Kobe, Japan
摘要	This paper presents a new turning maneuver generation method for a multilink biomimetic robotic fish, in which smooth step functions are introduced to dynamically trigger directed offsets in active and asymmetric swimming. With the proposed method, three basic turning modes can be unified into a general framework by choosing appropriate step-function combinations and dynamic bias. Furthermore, this method can be employed to maneuver the robotic fish agilely in the path planning, which promises more flexibility and steadiness in potential applications to bio-inspired autonomous underwater vehicles.
关键词	Turning biomimetics robots marine Animals tail underwater Vehicles vehicle Dynamics propulsion path Planning Robotics And Automation
收录类别	ISTP
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/4930
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Wang Ming
推荐引用方式 GB/T 7714	Yu Junzhi,Wang Ming,Tan Min,et al. Step Function Based Turning Maneuvers in Biomimetic Robotic Fish[C],2009:331-336.