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Optimal design and motion control of biomimetic robotic fish
Yu JunZhi1; Wang Long2; Zhao Wei1; Tan Min1; Yu, Junzhi
Source PublicationSCIENCE IN CHINA SERIES F-INFORMATION SCIENCES
2008-05-01
Volume51Issue:5Pages:535-549
SubtypeArticle
AbstractThis 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.
KeywordBiomimetic Robotic Fish Optimization Design Mechatronics Motion Control Central Pattern Generator (Cpg)
WOS HeadingsScience & Technology ; Technology
WOS KeywordANGUILLIFORM LOCOMOTION ; SWIMMING MACHINE ; PERFORMANCE ; VEHICLES ; SPEED
Indexed BySCI
Language英语
WOS Research AreaComputer Science
WOS SubjectComputer Science, Information Systems
WOS IDWOS:000255985100008
Citation statistics
Cited Times:7[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9650
Collection09年以前成果
Corresponding AuthorYu, Junzhi
Affiliation1.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
Recommended Citation
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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