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Optimal design and motion control of biomimetic robotic fish
Yu JunZhi1; Wang Long2; Zhao Wei1; Tan Min1; Yu, Junzhi
2008-05-01
发表期刊SCIENCE IN CHINA SERIES F-INFORMATION SCIENCES
卷号51期号:5页码:535-549
文章类型Article
摘要This paper is concerned with the design, optimization, and motion control of a radiocontrolled, multi-link, free-swimming biomimetic robotic fish based on an optimized kinematic and dynamic model of fish swimming. The performance of the robotic fish is determined by both the fish’s morphological characteristics and kinematic parameters. By applying ichthyologic theories of propulsion, a design framework that takes into consideration both mechatronic constraints in physical realization and feasibility of control methods is presented, under which a multiple linked robotic fish that integrates both the carangiform and anguilliform swimming modes can be easily developed. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-lengthratios are numerically calculated by an improved constrained cyclic variable method, which are successfully applied to a series of real robotic fishes. The rhythmic movements of swimming are driven by a central pattern generator (CPG) based on nonlinear oscillations, and up-and-down motion by regulation the rotating angle of pectoral fins. The experimental results verify that the presented scheme and method are effective in design and implementation.
关键词Biomimetic Robotic Fish Optimization Design Mechatronics Motion Control Central Pattern Generator (Cpg)
WOS标题词Science & Technology ; Technology
关键词[WOS]ANGUILLIFORM LOCOMOTION ; SWIMMING MACHINE ; PERFORMANCE ; VEHICLES ; SPEED
收录类别SCI
语种英语
WOS研究方向Computer Science
WOS类目Computer Science, Information Systems
WOS记录号WOS:000255985100008
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9650
专题09年以前成果
通讯作者Yu, Junzhi
作者单位1.Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China
2.Department of Mechanics and Space Technologies, Peking University, Beijing 100871, China
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GB/T 7714
Yu JunZhi,Wang Long,Zhao Wei,et al. Optimal design and motion control of biomimetic robotic fish[J]. SCIENCE IN CHINA SERIES F-INFORMATION SCIENCES,2008,51(5):535-549.
APA Yu JunZhi,Wang Long,Zhao Wei,Tan Min,&Yu, Junzhi.(2008).Optimal design and motion control of biomimetic robotic fish.SCIENCE IN CHINA SERIES F-INFORMATION SCIENCES,51(5),535-549.
MLA Yu JunZhi,et al."Optimal design and motion control of biomimetic robotic fish".SCIENCE IN CHINA SERIES F-INFORMATION SCIENCES 51.5(2008):535-549.
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