Implementing Flexible and Fast Turning Maneuvers of a Multijoint Robotic Fish

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

	Implementing Flexible and Fast Turning Maneuvers of a Multijoint Robotic Fish
	Su, Zongshuai 1; Yu, Junzhi1 ; Tan, Min1 ; Zhang, Jianwei 2
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2014-02-01
卷号	19 期号:1 页码:329-338
关键词	Bio-inspired robot C-start fast turn robotic fish swimming control
英文摘要	This paper focuses mainly on the control issues of replicating fast C-start maneuvers commonly found in fish propelled by their bodies and/or caudal fins. To generate an escape maneuver that combines a high degree of flexibility and precision, major factors related to the caudal fins, the moving joints, and the used motors are explored. Specifically, the turning rate is maximized by finely designing the preparatory and propulsive stages, while the relatively precise turning angle is achieved by a closed-loop control strategy in the propulsive and variable stages. Different types of C-starts are extensively implemented and compared by using a four-joint robotic fish. The latest results obtained show that the robotic fish is able to execute C-starts flexibly with a turning angle of up to 213 degrees, a top turning rate of approximately 670 degrees/s measured by the onboard gyroscope. Meanwhile, an upper limit of turning precision of less than 10 degrees is achieved.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
研究领域[WOS]	Automation & Control Systems ; Engineering
关键词[WOS]	START ESCAPE RESPONSE ; C-START ; BLUEGILL SUNFISH ; PERFORMANCE ; HYDRODYNAMICS ; PROPULSION ; KINEMATICS
收录类别	SCI
语种	英语
WOS记录号	WOS:000330233600031
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/3484]
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	1.Chinese Acad Sci, Inst Automat, State Key Lab Intelligent Control & Management Co, Beijing 100190, Peoples R China 2.Univ Hamburg, Dept Informat, D-22527 Hamburg, Germany
推荐引用方式 GB/T 7714	Su, Zongshuai,Yu, Junzhi,Tan, Min,et al. Implementing Flexible and Fast Turning Maneuvers of a Multijoint Robotic Fish[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2014,19(1):329-338.
APA	Su, Zongshuai,Yu, Junzhi,Tan, Min,&Zhang, Jianwei.(2014).Implementing Flexible and Fast Turning Maneuvers of a Multijoint Robotic Fish.IEEE-ASME TRANSACTIONS ON MECHATRONICS,19(1),329-338.
MLA	Su, Zongshuai,et al."Implementing Flexible and Fast Turning Maneuvers of a Multijoint Robotic Fish".IEEE-ASME TRANSACTIONS ON MECHATRONICS 19.1(2014):329-338.