CASIA OpenIR  > 09年以前成果
Control and coordination of multiple biomimetic robotic fish
Yu, Junzhi1; Wang, Long2; Shao, Jinyan2; Tan, Min1
Source PublicationIEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2007
Volume15Issue:1Pages:176-183
SubtypeArticle
AbstractInvestigation 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.
KeywordCoordinated Control Dynamic Analysis Hierarchical Architecture Modeling Robotic Fish
WOS HeadingsScience & Technology ; Technology
WOS KeywordLOCOMOTION ; FRAMEWORK
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000243342200018
Citation statistics
Cited Times:12[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9505
Collection09年以前成果
Corresponding AuthorYu, Junzhi
Affiliation1. 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
Recommended Citation
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.
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