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Control and coordination of multiple biomimetic robotic fish
Yu, Junzhi1; Wang, Long2; Shao, Jinyan2; Tan, Min1
2007
发表期刊IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
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
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
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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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