Towards an Esox lucius inspired multimodal robotic fish
Wu, ZhengXing; Yu, JunZhi; Su, ZongShuai; Tan, Min; Li, ZhenLong
2015-05-01
发表期刊SCIENCE CHINA-INFORMATION SCIENCES
卷号58期号:5页码:052203(13)
文章类型Article
摘要In this paper, we further explore multimodal locomotion via an updated robotic fish model based on Esox lucius. Besides the improved actuation properties like higher torque servomotors and powerful electronics, the robotic fish has some innovative mechanical design to pursue diverse swimming modes and superior performance. Specifically, we introduced a ±50° yawing head joint that functions as the neck for enhancing turning ability. A pair of pectoral mechanisms with two DOFs per fin is constructed to achieve 3-D swimming and to enrich multiple pectoral motions. At the control level, an improved central pattern generator (CPG) model allowing for free adjustment of the phase relationship among outputs is employed to produce rhythmic signals of multimodal swimming. Extensive experiments were carried out to examine how characteristic parameters in CPGs including amplitude, frequency, and phase lag affect the swimming performance. As a result, the robotic fish successfully performed various locomotion actions such as forward swimming, backward swimming, turning, diving, surfacing, as well as three pectoral motions in the form of pitching, heaving, and heaving-pitching. We found that small phase lag between oscillating joints which means large propulsive body wave length and undulation width could lead to a faster swimming in body and/or caudal fin (BCF) locomotion.
关键词Bio-inspired Robot Robotic Fish Cpg Multimodal Swimming Motion Control
WOS标题词Science & Technology ; Technology
关键词[WOS]UNDERWATER ROBOT ; PECTORAL FIN ; PATTERN ; COORDINATION ; KINEMATICS ; LAMPREY
收录类别SCI
语种英语
WOS研究方向Computer Science
WOS类目Computer Science, Information Systems
WOS记录号WOS:000353818200004
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被引频次:9[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/8119
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Yu, JunZhi
作者单位State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
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GB/T 7714
Wu, ZhengXing,Yu, JunZhi,Su, ZongShuai,et al. Towards an Esox lucius inspired multimodal robotic fish[J]. SCIENCE CHINA-INFORMATION SCIENCES,2015,58(5):052203(13).
APA Wu, ZhengXing,Yu, JunZhi,Su, ZongShuai,Tan, Min,&Li, ZhenLong.(2015).Towards an Esox lucius inspired multimodal robotic fish.SCIENCE CHINA-INFORMATION SCIENCES,58(5),052203(13).
MLA Wu, ZhengXing,et al."Towards an Esox lucius inspired multimodal robotic fish".SCIENCE CHINA-INFORMATION SCIENCES 58.5(2015):052203(13).
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