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A Torque Control Strategy for a Robotic Dolphin Platform Based on Angle of Attack Feedback | |
Tianzhu Wang1,2![]() ![]() ![]() | |
发表期刊 | Biomimetics
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2023 | |
卷号 | 8页码:291 |
文章类型 | 期刊论文 |
摘要 | Biological fish can always sense the state of water flow and regulate the angle of attack in time, so as to maintain the highest movement efficiency during periodic flapping. The biological adjustment of the caudal fin’s angle of attack (AoA) depends on the contraction/relaxation of the tail muscles, accompanying the variation in tail stiffness. During an interaction with external fluid, it helps to maintain the optimal angle of attack during movement, to improve the propulsion performance. Inspired by this, this paper proposes a tail joint motion control scheme based on AoA feedback for the high-speed swimming of bionic dolphins. Firstly, the kinematic characteristics of the designed robot dolphin are analyzed, and the hardware basis is clarified. Second, aiming at the deficiency of the tail motor, which cannot effectively cooperate with the waist joint motor during high-frequency movement, a compensation model for the friction force and latex skin-restoring force is designed, and a joint angle control algorithm based on fuzzy inference is proposed to realize the tracking of the desired joint angle for the tail joint in torque mode. In addition, a tail joint closed-loop control scheme based on angle of attack feedback is proposed to improve the motion performance. Finally, experiments verify the effectiveness of the proposed motion control scheme. |
关键词 | robotic dolphin torque control angle of attack motion improvement |
学科门类 | 工学 ; 工学::控制科学与工程 |
DOI | https:// doi.org/10.3390/biomimetics8030291 |
收录类别 | SCI |
语种 | 英语 |
WOS记录号 | WOS:001035175000001 |
是否为代表性论文 | 是 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 水下仿生机器人 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/52416 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Junzhi Yu |
作者单位 | 1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China 3.State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Tianzhu Wang,Junzhi Yu,Di Chen,et al. A Torque Control Strategy for a Robotic Dolphin Platform Based on Angle of Attack Feedback[J]. Biomimetics,2023,8:291. |
APA | Tianzhu Wang,Junzhi Yu,Di Chen,&Yan Meng.(2023).A Torque Control Strategy for a Robotic Dolphin Platform Based on Angle of Attack Feedback.Biomimetics,8,291. |
MLA | Tianzhu Wang,et al."A Torque Control Strategy for a Robotic Dolphin Platform Based on Angle of Attack Feedback".Biomimetics 8(2023):291. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Biomimetics23-A Torq(1925KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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