Control and coordination of multiple biomimetic robotic fish

	Control and coordination of multiple biomimetic robotic fish
	Yu, Junzhi1 ; Wang, Long 2; Shao, Jinyan 2; Tan, Min1
刊名	IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
	2007
卷号	15 期号:1 页码:176-183
关键词	coordinated control dynamic analysis hierarchical architecture modeling robotic fish
通讯作者	Yu, Junzhi
英文摘要	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.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Engineering, Electrical & Electronic
研究领域[WOS]	Automation & Control Systems ; Engineering
关键词[WOS]	LOCOMOTION ; FRAMEWORK
收录类别	SCI
语种	英语
WOS记录号	WOS:000243342200018
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/9505]
专题	自动化研究所_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. Center for Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China
推荐引用方式 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.