A marsupial robotic fish team: Design, motion and cooperation

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

	A marsupial robotic fish team: Design, motion and cooperation
	Zhou Chao; Cao ZhiQiang; Wang Shuo; Tan Min
刊名	SCIENCE CHINA-TECHNOLOGICAL SCIENCES
	2010-11-01
卷号	53 期号:11 页码:2896-2904
关键词	marsupial robotic fish daughter-mother following heterogeneous communication-based FSM
英文摘要	A bio-inspired marsupial robotic fish system composed of heterogeneous robotic fish is proposed in this paper. A miniature robotic fish, as the daughter robotic fish, can adapt to some narrow space, while the mother robotic fish, with a cabin to transport the daughter, possesses a powerful movement ability to improve the mobility and endurance of the team. The structures for mimicking bio-motion and the method for fishlike-motion are presented. A typical task of daughter-mother following is given to show the cooperation of the team. A motion model of free swimming is built based on the Lagrangian function, and the coupled dynamic and kinematic functions are calculated based on the relation between the generalized force and fluid force. Then, a neural network is trained through the data generated from this model to get a predictive yaw controller, which can control the orientation by a different offset of each link. The daughter robotic fish adopts a dynamic light source tracking approach to follow the mother, and a heterogeneous communication-based finite state machine is presented for task modeling. Experiments are carried out to verify the system.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Engineering, Multidisciplinary ; Materials Science, Multidisciplinary
研究领域[WOS]	Engineering ; Materials Science
关键词[WOS]	LOCOMOTION ; FIN
收录类别	SCI
语种	英语
WOS记录号	WOS:000283119500002
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/3421]
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
作者单位	Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Zhou Chao,Cao ZhiQiang,Wang Shuo,et al. A marsupial robotic fish team: Design, motion and cooperation[J]. SCIENCE CHINA-TECHNOLOGICAL SCIENCES,2010,53(11):2896-2904.
APA	Zhou Chao,Cao ZhiQiang,Wang Shuo,&Tan Min.(2010).A marsupial robotic fish team: Design, motion and cooperation.SCIENCE CHINA-TECHNOLOGICAL SCIENCES,53(11),2896-2904.
MLA	Zhou Chao,et al."A marsupial robotic fish team: Design, motion and cooperation".SCIENCE CHINA-TECHNOLOGICAL SCIENCES 53.11(2010):2896-2904.