A Torque Control Strategy for a Robotic Dolphin Platform Based on Angle of Attack Feedback | |
Tianzhu Wang2,3; Junzhi Yu1,3; Di Chen1; Yan Meng1 | |
刊名 | Biomimetics |
2023 | |
卷号 | 8页码:291 |
关键词 | robotic dolphin torque control angle of attack motion improvement |
DOI | https:// doi.org/10.3390/biomimetics8030291 |
文献子类 | 期刊论文 |
英文摘要 | Biological fish can always sense the state of water flow and regulate the angle of attack in time, so as to maintain the highest movement efficiency during periodic flapping. The biological adjustment of the caudal fin’s angle of attack (AoA) depends on the contraction/relaxation of the tail muscles, accompanying the variation in tail stiffness. During an interaction with external fluid, it helps to maintain the optimal angle of attack during movement, to improve the propulsion performance. Inspired by this, this paper proposes a tail joint motion control scheme based on AoA feedback for the high-speed swimming of bionic dolphins. Firstly, the kinematic characteristics of the designed robot dolphin are analyzed, and the hardware basis is clarified. Second, aiming at the deficiency of the tail motor, which cannot effectively cooperate with the waist joint motor during high-frequency movement, a compensation model for the friction force and latex skin-restoring force is designed, and a joint angle control algorithm based on fuzzy inference is proposed to realize the tracking of the desired joint angle for the tail joint in torque mode. In addition, a tail joint closed-loop control scheme based on angle of attack feedback is proposed to improve the motion performance. Finally, experiments verify the effectiveness of the proposed motion control scheme. |
语种 | 英语 |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/52416] |
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 | Junzhi Yu |
作者单位 | 1.State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China 2.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China 3.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China |
推荐引用方式 GB/T 7714 | Tianzhu Wang,Junzhi Yu,Di Chen,et al. A Torque Control Strategy for a Robotic Dolphin Platform Based on Angle of Attack Feedback[J]. Biomimetics,2023,8:291. |
APA | Tianzhu Wang,Junzhi Yu,Di Chen,&Yan Meng.(2023).A Torque Control Strategy for a Robotic Dolphin Platform Based on Angle of Attack Feedback.Biomimetics,8,291. |
MLA | Tianzhu Wang,et al."A Torque Control Strategy for a Robotic Dolphin Platform Based on Angle of Attack Feedback".Biomimetics 8(2023):291. |
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