Design and Locomotion Control of a Dactylopteridae-Inspired Biomimetic Underwater Vehicle With Hybrid Propulsion

doi:10.1109/TASE.2021.3070117

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

	Design and Locomotion Control of a Dactylopteridae-Inspired Biomimetic Underwater Vehicle With Hybrid Propulsion
	Zhang, Tiandong 1,3; Wang, Rui 3; Wang, Yu 3; Cheng, Long 1,3; Wang, Shuo 1,2,3; Tan, Min 1,3
刊名	IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
	2021-04-07
页码	13
关键词	Propulsion DC motors Robots Control systems Servomotors Underwater vehicles Sports Biomimetic underwater vehicle (BUV) body and or caudal fin (BCF) median and or paired fin (MPF) hybrid propulsion central pattern generators (CPGs) fuzzy proportion integral differential (PID)
ISSN号	1545-5955
DOI	10.1109/TASE.2021.3070117
通讯作者	Wang, Rui(rwang5212@ia.ac.cn)
英文摘要	This article presents the design and implementation of an innovative biomimetic underwater vehicle (BUV) and its locomotion controller. Through mimicking a dactylopteridae, the hybrid propulsion BUV is designed with two symmetrical bio-inspired long-fins and a double-joint fishtail. The mechatronic design of the dactylopteridae-inspired BUV with the pectoral long-fins and a double-joint fishtail is first provided. The two flexible long-fins compose the median and/or paired fin (MPF) propulsion, while the fishtail acts as the body and/or caudal fin (BCF) propulsion. Through the coordination of BCF and MPF propulsion modes, the BUV obtains excellent low-speed locomotion stability and also keeps high maneuverability. Moreover, the locomotion control methods based on central pattern generators (CPGs) model and fuzzy adaptive proportion integral differential (PID) are proposed for this BUV. In the end, the experimental results of the multimode motion and closed-loop motion control demonstrate the feasibility and effectiveness of the mechanism and the locomotion control system.
资助项目	National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[U1806204] ; National Natural Science Foundation of China[U1913209] ; National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[62073316] ; Strategic Priority Research Program of the Chinese Academy of Sciences (CAS)[XDB32050100] ; Key Projects of Foreign Cooperation of CAS[173211KYSB20200020] ; Beijing Municipal Natural Science Foundation[JQ19020] ; Youth Innovation Promotion Association CAS
WOS研究方向	Automation & Control Systems
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000732259300001
资助机构	National Natural Science Foundation of China ; Strategic Priority Research Program of the Chinese Academy of Sciences (CAS) ; Key Projects of Foreign Cooperation of CAS ; Beijing Municipal Natural Science Foundation ; Youth Innovation Promotion Association CAS
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/46899]
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
通讯作者	Wang, Rui
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Tiandong,Wang, Rui,Wang, Yu,et al. Design and Locomotion Control of a Dactylopteridae-Inspired Biomimetic Underwater Vehicle With Hybrid Propulsion[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2021:13.
APA	Zhang, Tiandong,Wang, Rui,Wang, Yu,Cheng, Long,Wang, Shuo,&Tan, Min.(2021).Design and Locomotion Control of a Dactylopteridae-Inspired Biomimetic Underwater Vehicle With Hybrid Propulsion.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,13.
MLA	Zhang, Tiandong,et al."Design and Locomotion Control of a Dactylopteridae-Inspired Biomimetic Underwater Vehicle With Hybrid Propulsion".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2021):13.