Optimal design and motion control of biomimetic robotic fish

	Optimal design and motion control of biomimetic robotic fish
	Yu JunZhi1 ; Wang Long 2; Zhao Wei 1; Tan Min1
刊名	SCIENCE IN CHINA SERIES F-INFORMATION SCIENCES
	2008-05-01
卷号	51 期号:5 页码:535-549
关键词	biomimetic robotic fish optimization design mechatronics motion control central pattern generator (CPG)
通讯作者	Yu, Junzhi
英文摘要	This paper is concerned with the design, optimization, and motion control of a radiocontrolled, multi-link, free-swimming biomimetic robotic fish based on an optimized kinematic and dynamic model of fish swimming. The performance of the robotic fish is determined by both the fish’s morphological characteristics and kinematic parameters. By applying ichthyologic theories of propulsion, a design framework that takes into consideration both mechatronic constraints in physical realization and feasibility of control methods is presented, under which a multiple linked robotic fish that integrates both the carangiform and anguilliform swimming modes can be easily developed. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-lengthratios are numerically calculated by an improved constrained cyclic variable method, which are successfully applied to a series of real robotic fishes. The rhythmic movements of swimming are driven by a central pattern generator (CPG) based on nonlinear oscillations, and up-and-down motion by regulation the rotating angle of pectoral fins. The experimental results verify that the presented scheme and method are effective in design and implementation.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Computer Science, Information Systems
研究领域[WOS]	Computer Science
关键词[WOS]	ANGUILLIFORM LOCOMOTION ; SWIMMING MACHINE ; PERFORMANCE ; VEHICLES ; SPEED
收录类别	SCI
语种	英语
WOS记录号	WOS:000255985100008
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/9650]
专题	自动化研究所_09年以前成果
作者单位	1.Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China 2.Department of Mechanics and Space Technologies, Peking University, Beijing 100871, China
推荐引用方式 GB/T 7714	Yu JunZhi,Wang Long,Zhao Wei,et al. Optimal design and motion control of biomimetic robotic fish[J]. SCIENCE IN CHINA SERIES F-INFORMATION SCIENCES,2008,51(5):535-549.
APA	Yu JunZhi,Wang Long,Zhao Wei,&Tan Min.(2008).Optimal design and motion control of biomimetic robotic fish.SCIENCE IN CHINA SERIES F-INFORMATION SCIENCES,51(5),535-549.
MLA	Yu JunZhi,et al."Optimal design and motion control of biomimetic robotic fish".SCIENCE IN CHINA SERIES F-INFORMATION SCIENCES 51.5(2008):535-549.