Three-dimensional dynamic modelling of robotic fish: simulations and experiments

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	Three-dimensional dynamic modelling of robotic fish: simulations and experiments
	Yu, Junzhi1 ; Liu, Lizhong 2; Tan, Min1
发表期刊	TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
	2008-08-01
卷号	30 期号:3-4 页码:239-258
文章类型	Article
摘要	This paper deals with a three-dimensional (3-D) dynamic model for a free-swimming, multi-link fish-like robot to predict the dynamic characteristics of an artificial fish system using the Schiehlen method in the context of multibody dynamics. The robotic fish, according to propulsive mechanisms employed by fish, propels itself using lateral oscillations and achieves a climb or descent manoeuvre exploiting a pair of pectoral fins. Mechanically, the robotic fish consists of a stiff head, a flexible rear body and an oscillating lunate caudal fin, which can essentially be viewed as an open, tree-like multibody system. The kinematic analysis is then integrated with hydrodynamic analysis on multiple moving elements to derive complete dynamic equations in a form suited for computer implementation as well as controller design. A variety of locomotion behaviours, through regulating parametric sets, can be reproduced. Numerical simulations and actual experiments on degenerative planar swimming and combined motions are finally compared, which partially demonstrate the effectiveness of the built model. © 2008 The Institute of Measurement and Control.
关键词	Dynamic Modelling Multibody Dynamics Robotic Fish Schiehlen Method Underwater Robot
WOS标题词	Science & Technology ; Technology
关键词[WOS]	LOCOMOTION ; VEHICLES ; FOILS
收录类别	SCI
语种	英语
WOS研究方向	Automation & Control Systems ; Instruments & Instrumentation
WOS类目	Automation & Control Systems ; Instruments & Instrumentation
WOS记录号	WOS:000258609200004
引用统计	被引频次：11[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/173211/9651
专题	09年以前成果
作者单位	1. 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
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Yu, Junzhi,Liu, Lizhong,Tan, Min. Three-dimensional dynamic modelling of robotic fish: simulations and experiments[J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL,2008,30(3-4):239-258.
APA	Yu, Junzhi,Liu, Lizhong,&Tan, Min.(2008).Three-dimensional dynamic modelling of robotic fish: simulations and experiments.TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL,30(3-4),239-258.
MLA	Yu, Junzhi,et al."Three-dimensional dynamic modelling of robotic fish: simulations and experiments".TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 30.3-4(2008):239-258.