Control and coordination of multiple biomimetic robotic fish

CASIA OpenIR > 09年以前成果

	Control and coordination of multiple biomimetic robotic fish
	Yu, Junzhi1 ; Wang, Long 2; Shao, Jinyan 2; Tan, Min1
发表期刊	IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
	2007
卷号	15 期号:1 页码:176-183
文章类型	Article
摘要	Investigation in biomimetic robotic fish is a multidisciplinary area entirely integrating hydrodynamics-based control and robotic technology. In this brief, grounded on an optimized kinematic and dynamic model of robotic fish which synthesizes both the carangiform and anguilliform swimming modes, a free-swimming, multilink robotic fish and its motion control are designed. Employing top-down design approach, we propose a hierarchical architecture for an artificial multifish system which consists of five levels: task level, role level, behavior level, action level, and controller level, to formalize the processes from task decomposition, role assignments, and control performance. A vision-based, closed-loop experimental system for multiple robotic fish is finally constructed to verify the proposed architecture. The running experiments of fish versus man primarily show that much greater capabilities are exhibited when the fish try to cooperate with each other.
关键词	Coordinated Control Dynamic Analysis Hierarchical Architecture Modeling Robotic Fish
WOS标题词	Science & Technology ; Technology
关键词[WOS]	LOCOMOTION ; FRAMEWORK
收录类别	SCI
语种	英语
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic
WOS记录号	WOS:000243342200018
引用统计	被引频次：17[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/173211/9505
专题	09年以前成果
通讯作者	Yu, Junzhi
作者单位	1. Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China 2. Center for Systems and Control, Department of Mechanics and Engineering Science, 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	Yu, Junzhi,Wang, Long,Shao, Jinyan,et al. Control and coordination of multiple biomimetic robotic fish[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2007,15(1):176-183.
APA	Yu, Junzhi,Wang, Long,Shao, Jinyan,&Tan, Min.(2007).Control and coordination of multiple biomimetic robotic fish.IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,15(1),176-183.
MLA	Yu, Junzhi,et al."Control and coordination of multiple biomimetic robotic fish".IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 15.1(2007):176-183.