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	THE DESIGN, MODELLING AND IMPLEMENTATION OF A MINIATURE BIOMIMETIC ROBOTIC FISH
	Zhou, C.; Cao, Z.; Wang, S.; Tan, M.
刊名	INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
	2010
卷号	25期号:3页码:210-216
关键词	Miniature robotic fish biomimetic motion kinematic modelling parameter optimization
英文摘要	This paper proposes a miniature biomimetic robotic fish based on a single joint, with a compact structure, high manoeuvrability and multiple sensors, and a model of freely swimming situation is built based on Lagrangian function. The robotic fish mimics the motion of Thunniform fish, and methods of propelling, turning and C-sharp turning are given. To model the motion of robotic fish, the fluid force acting on the robotic fish is divided into three parts. By solving Lagrange's equation of the second kind, the movement and motion parameters of robotic fish are obtained. Simulated results of motions are given, and experiments are carried out to verify the model.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Robotics
研究领域[WOS]	Automation & Control Systems ; Robotics
关键词[WOS]	EEL-LIKE ROBOT ; LOCOMOTION
收录类别	SCI
语种	英语
WOS记录号	WOS:000281547400005
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/3460]
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, C.,Cao, Z.,Wang, S.,et al. THE DESIGN, MODELLING AND IMPLEMENTATION OF A MINIATURE BIOMIMETIC ROBOTIC FISH[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2010,25(3):210-216.
APA	Zhou, C.,Cao, Z.,Wang, S.,&Tan, M..(2010).THE DESIGN, MODELLING AND IMPLEMENTATION OF A MINIATURE BIOMIMETIC ROBOTIC FISH.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,25(3),210-216.
MLA	Zhou, C.,et al."THE DESIGN, MODELLING AND IMPLEMENTATION OF A MINIATURE BIOMIMETIC ROBOTIC FISH".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 25.3(2010):210-216.

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