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Towards an Esox lucius inspired multimodal robotic fish
Wu, ZhengXing; Yu, JunZhi; Su, ZongShuai; Tan, Min; Li, ZhenLong
AbstractIn 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.
KeywordBio-inspired Robot Robotic Fish Cpg Multimodal Swimming Motion Control
WOS HeadingsScience & Technology ; Technology
Indexed BySCI
WOS Research AreaComputer Science
WOS SubjectComputer Science, Information Systems
WOS IDWOS:000353818200004
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Cited Times:10[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Corresponding AuthorYu, JunZhi
AffiliationState Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
Recommended Citation
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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