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Design and control of a single-motor-actuated robotic fish capable of fast swimming and maneuverability
Yu JZ(喻俊志); Zhang C(张诚); Liu LQ(刘连庆)
作者部门机器人学研究室
关键词Bioinspired Robot Control Engineering Maneuverability Mechanical Design Swimming Robot
发表期刊IEEE/ASME Transactions on Mechatronics
ISSN1083-4435
2016
卷号21期号:3页码:1711-1719
收录类别SCI ; EI
EI收录号20162202432337
WOS记录号WOS:000375609900051
产权排序1
资助机构National Natural Science Foundation of China under Grants 61375102, 61333016, and 61573226, in part by the Beijing Natural Science Foundation under Grant 3141002,and in part by the State Key Laboratory of Robotics.
摘要This paper deals with a novel fast swimming robotic fish capable of high maneuverability and yet with less joints. On the basis of prior work on a single-motor-actuated miniature robotic fish, we mainly stress three aspects: mechanical design, motion analysis, and posture control to strike a tradeoff between speediness and maneuverability. Specifically, an improved mechanical structure endows the robot with large thrust and increased range of movements. Motion analysis offers useful guidance to parameter settings of steady swimming. Besides, sine-based functions responsible for generating traveling waves in conjunction with an analysis of parameter variation of oscillation amplitude of the fish tail serve the purpose to determine the posture of the robotic fish. Underwater tests on straight swimming and different turns demonstrate the effectiveness of the proposed methods and mechatronic designs. Remarkably, the robot attained a maximum swimming speed of 1.14 m/s (corresponding to 3.07 body lengths per second) in forward swimming, a turning rate of approximately 90 °/s in normal turns, and a turning rate of approximately 63.8 °/s in hybrid turns.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
关键词[WOS]LOCOMOTION ; TRACKING ; SYSTEMS ; MODELS
WOS研究方向Automation & Control Systems ; Engineering
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/18661
专题机器人学研究室
通讯作者Yu JZ(喻俊志)
作者单位1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式
GB/T 7714
Yu JZ,Zhang C,Liu LQ. Design and control of a single-motor-actuated robotic fish capable of fast swimming and maneuverability[J]. IEEE/ASME Transactions on Mechatronics,2016,21(3):1711-1719.
APA Yu JZ,Zhang C,&Liu LQ.(2016).Design and control of a single-motor-actuated robotic fish capable of fast swimming and maneuverability.IEEE/ASME Transactions on Mechatronics,21(3),1711-1719.
MLA Yu JZ,et al."Design and control of a single-motor-actuated robotic fish capable of fast swimming and maneuverability".IEEE/ASME Transactions on Mechatronics 21.3(2016):1711-1719.
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