CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Implementing 3-D high maneuvers with a novel biomimetic robotic fish
Wu, Zhengxing; Yu, Junzhi; Su, Zongshuai; Tan, Min
2014
Conference Name19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
Source Publication19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
Pages4861-4866
Conference DateAugust 24, 2014 - August 29, 2014
Conference PlaceCape Town, South africa
Abstracthis 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.
KeywordRobotic Fish
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/4958
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorWu, Zhengxing
Recommended Citation
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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