QQ客服 官方微博 反馈留言

	Design framework and 3-D motion control for biomimetic robot fish
	Yu, Junzhi ; Wang, Long
	2005
DOI	10.1109/.2005.1467225
英文摘要	This paper deals with the design and 3-D motion control of a radio-controlled, multi-link and free-swimming biomimetic robot fish based on an improved kinematic propulsive model. The performance of the robot fish is determined by the fish's both morphological parameters and kinematic parameters. By ichthyologic theories of propulsion, a design framework taking into consideration of both mechatronic constraints in physical realization and feasibility of control methods is presented, where multiple linked robot fish propelled by a flexible posterior body and an oscillating tail fin can be easily developed. The 3-D motion control of robot fish is decomposed into speed control, orientation control and submerging/ascending control. The speed of the swimming fish can be adjusted by changing oscillating frequency, oscillating amplitude and the length of oscillatory part, respectively, and its orientation is tuned by different joint's deflections. The up-down motion is realized by a pectoral mechanism. The experimental results on designed prototypes verify that the presented scheme is effective in design and implementation. ?2005 IEEE.; EI; 0
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/328404]
专题	工学院
推荐引用方式 GB/T 7714	Yu, Junzhi,Wang, Long. Design framework and 3-D motion control for biomimetic robot fish[C]. 见:.

个性服务

查看访问统计

相关权益政策

暂无数据

收藏/分享

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。