Design and Control of a Single-Motor-Actuated Robotic Fish Capable of Fast Swimming and Maneuverability

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

	Design and Control of a Single-Motor-Actuated Robotic Fish Capable of Fast Swimming and Maneuverability
	Yu, Junzhi1,2 ; Zhang, Cheng1 ; Liu, Lianqing 2
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2016-06-01
卷号	21 期号:3 页码:1711-1719
关键词	Bioinspired robot control engineering maneuverability mechanical design swimming robot
英文摘要	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-motoractuated 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 travelingwaves 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 amaximumswimming speed of 1.14 m/s (corresponding to 3.07 body lengths per second) in forward swimming, a turning rate of approximately 90 degrees/s in normal turns, and a turning rate of approximately 63.8 degrees/s in hybrid turns.
学科主题	控制理论与控制工程（先进机器人控制）
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]	LOCOMOTION ; TRACKING ; SYSTEMS ; MODELS
收录类别	SCI
语种	英语
WOS记录号	WOS:000375609900051
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/11498]
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, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China 2.Chinese Acad Sci, State Key Lab Robot, Shenyang Inst Automat, Shenyang 110016, Peoples R China
推荐引用方式 GB/T 7714	Yu, Junzhi,Zhang, Cheng,Liu, Lianqing. 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, Junzhi,Zhang, Cheng,&Liu, Lianqing.(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, Junzhi,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.