CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Towards an Esox lucius inspired multimodal robotic fish
Wu, ZhengXing; Yu, JunZhi; Su, ZongShuai; Tan, Min; Li, ZhenLong
Source PublicationSCIENCE CHINA-INFORMATION SCIENCES
2015-05-01
Volume58Issue:5Pages:052203(13)
SubtypeArticle
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
WOS KeywordUNDERWATER ROBOT ; PECTORAL FIN ; PATTERN ; COORDINATION ; KINEMATICS ; LAMPREY
Indexed BySCI
Language英语
WOS Research AreaComputer Science
WOS SubjectComputer Science, Information Systems
WOS IDWOS:000353818200004
Citation statistics
Cited Times:11[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/8119
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu, JunZhi
AffiliationState Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
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).
Files in This Item: Download All
File Name/Size DocType Version Access License
Towards an Esox luci(1438KB)期刊论文作者接受稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Wu, ZhengXing]'s Articles
[Yu, JunZhi]'s Articles
[Su, ZongShuai]'s Articles
Baidu academic
Similar articles in Baidu academic
[Wu, ZhengXing]'s Articles
[Yu, JunZhi]'s Articles
[Su, ZongShuai]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Wu, ZhengXing]'s Articles
[Yu, JunZhi]'s Articles
[Su, ZongShuai]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Towards an Esox lucius inspired multimodal robotic fish.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.