Closed-Loop Precise Turning Control for a BCF-Mode Robotic Fish

	Closed-Loop Precise Turning Control for a BCF-Mode Robotic Fish
	Su Zongshuai; Yu Junzhi; Tan Min; Zhang Jianwei
	2010
会议名称	IEEE/RSJ International Conference on Intelligent Robots and Systems
会议录名称	IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
会议日期	2010.10
会议地点	Taipei, Taiwan
摘要	This paper deals with a novel closed-loop maneuvering control method to enhance the turning precision and turning response speed of a robotic fish propelled via the body and/or caudal fin (BCF) mode. Although the BCF propulsion is favorable for the cases requiring greater thrust and accelerations, its maneuverability can be compensated by effective turning control. In our method, the turning maneuver is divided into three phases: the bending, holding, and unbending phases. After much consideration on turning details, the functions of each phase and the basic control laws are further identified. Results of experiments on in-situ direction tracking and direction maintaining verify the effectiveness of the proposed turning control.
关键词	Turning joints propulsion robot Sensing Systems force steady-state
收录类别	ISTP
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/4931
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. Closed-Loop Precise Turning Control for a BCF-Mode Robotic Fish[C],2010.