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A Wire-driven Elastic Robotic Fish and its Design and CPG-Based Control | |
Xiaocun Liao1,2![]() ![]() ![]() ![]() ![]() | |
发表期刊 | Journal of Intelligent & Robotic Systems
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2023 | |
卷号 | 107期号:1页码:4 |
文章类型 | Research article |
摘要 | To simulate the complex and continuous undulation of fishtail in nature, the method of adopting the discrete Multi-Joint mechanism requires a certain number of degrees of freedom, which results in the complexities of mechanism and control necessarily. Compared with Multi-Joint, flexible tail is a better scheme due to continuum, robustness, and simpler control. Hence, this paper proposes a wire-driven elastic robotic fish with flexible tail, which simulates fish muscle through multi-wire drive and adopts a fishlike spine design based on elastic component. Due to these distinctive designs, our robotic fish not only realizes the compliant simulation of fishlike swimming gait, but also owns higher bionic degree. Further, the kinematics model and speed estimation model of the wire-driven elastic robotic fish are developed, and the error between the body wave and the desired fishlike swimming gait is further optimized so as to determine the appropriate parameters of central pattern generator. The results show that the optimized body wave of fishtail matches well with the desired fishlike swimming gait and the RMSE of the stable swimming speed between simulations and experiments is 0.045 m/s, which validates the proposed model and optimization method. Finally, the relationships between the frequency and swimming speed under small amplitude are explored, from which we find that amplitude has a greater impact on speed than frequency at high frequency, and the maximum swimming speed of about 0.54 m/s, i.e., 1.02 BL/s, is obtained. |
关键词 | Robotic fish Wire-driven mode Elastic component Kinematics model Body wave |
学科门类 | 工学::控制科学与工程 |
DOI | https://doi.org/10.1007/s10846-022-01797-9 |
URL | 查看原文 |
收录类别 | SCI ; SCIE |
语种 | 英语 |
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/173211/56553 |
专题 | 复杂系统认知与决策实验室_水下机器人 |
通讯作者 | Chao Zhou |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences 2.School of Artificial Intelligence, University of Chinese Academy of Sciences |
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 | Xiaocun Liao,Chao Zhou,Jian Wang,et al. A Wire-driven Elastic Robotic Fish and its Design and CPG-Based Control[J]. Journal of Intelligent & Robotic Systems,2023,107(1):4. |
APA | Xiaocun Liao,Chao Zhou,Jian Wang,Junfeng Fan,&Zhuoliang Zhang.(2023).A Wire-driven Elastic Robotic Fish and its Design and CPG-Based Control.Journal of Intelligent & Robotic Systems,107(1),4. |
MLA | Xiaocun Liao,et al."A Wire-driven Elastic Robotic Fish and its Design and CPG-Based Control".Journal of Intelligent & Robotic Systems 107.1(2023):4. |
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