Implementing 3-D high maneuvers with a novel biomimetic robotic fish

	Implementing 3-D high maneuvers with a novel biomimetic robotic fish
	Wu, Zhengxing; Yu, Junzhi; Su, Zongshuai; Tan, Min
	2014
会议名称	19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
会议录名称	19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
页码	4861-4866
会议日期	August 24, 2014 - August 29, 2014
会议地点	Cape Town, South africa
摘要	his paper is devoted to the exploration of three-dimensional (3-D) maneuvers using a free-swimming fishlike robot. For the sake of a better maneuverability, an Esox lucius robotic fish consisting of a yawing head, two degrees of freedom pectoral mechanism and multilink body joints together with a caudal fin is developed. With full consideration of both mechanical configuration and propulsive principles of the robotic fish, detailed analysis and viable approaches to perform serval high maneuvers involving rotational maneuvers and translational maneuvers are presented. Based on the feedback of turning angles measured by an onboard six-axis gyroscope, the robotic fish achieves various agile and swift motions. Specifically, according to the C-start of Esox lucius, a flexible and wide-range yaw turn up to 360° is attained. Under the propulsive forces and moments from pectoral fins with symmetric or asymmetric pitching and heaving attack angles, the robotic fish can agilely flip in a pitch style and roll a 360° rotation around the swimming direction. Moreover, two types of backward swimming separately employing pectoral fins and body undulation are also accomplished. The experimental results verify the remarkable maneuverability of the developed robotic fish and the effectiveness of approaches presented for the maneuver control.
关键词	Robotic Fish
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/4958
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Wu, Zhengxing
推荐引用方式 GB/T 7714	Wu, Zhengxing,Yu, Junzhi,Su, Zongshuai,et al. Implementing 3-D high maneuvers with a novel biomimetic robotic fish[C],2014:4861-4866.

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