An improved multimodal robotic fish modelled after Esox lucius

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	An improved multimodal robotic fish modelled after Esox lucius
	Wu Zhengxing; Yu Junzhi; Su Zongshuai; Tan Min
	2014
会议名称	IEEE International Conference on Robotics and Biomimetics
会议日期	2013
会议地点	Shenzhen, China
关键词	Servomotors Turning Joints Robot kinematics Oscillators Hydrodynamics
通讯作者	Wu Zhengxing
英文摘要	This paper focuses on a further exploration of multimodal locomotion governed by bio-inspired central pattern generators (CPGs). To pursue a better swimming performance, an updated robotic fish is constructed. Besides the improved hardware devices involving higher torque servomotors and powerful processors, some innovative mechanical designs are taken into consideration. Specifically, a well-streamlined shape like Esox lucius and a yawing head joint contribute to reduce hydrodynamic drag and strengthen turning ability. A pair of flexible pectoral fins with four degrees of freedom is to enhance the capability of three-dimensional locomotion and to enrich multiple swimming motions. Further discussion on how characteristic parameters in CPGs including frequency, amplitude, and phase relationship impact the swimming performance is also presented. Finally, the robotic fishsuccessfully gains more powerful capability of multimodal locomotion containing forward swimming, backward swimming, turning, diving, and ascending. The experimental results validate the effectiveness of mechanism design and adaptability of multimodal locomotion governed by CPGs.
会议录	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/13049]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
推荐引用方式 GB/T 7714	Wu Zhengxing,Yu Junzhi,Su Zongshuai,et al. An improved multimodal robotic fish modelled after Esox lucius[C]. 见:IEEE International Conference on Robotics and Biomimetics. Shenzhen, China. 2013.