Swimming simulation and system implementation of a multilink robotic fish | |
Yu Junzhi![]() ![]() | |
刊名 | International Journal of Information and Systems Sciences
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2010 | |
卷号 | 6期号:4页码:365-376 |
关键词 | Kinematic simulations System implementation Fish swimming Body wave Robotic fish |
通讯作者 | Yu Junzhi |
英文摘要 | This paper is devoted to the development of a multilink Digital Fish Simulator (DFS), with the emphasis on creating a controlled kinematic centered environment to further shed light on how to design and control artificial fishlike robots (i.e., robotic fishes). Compared to a 3D simulator for autonomous robotic fish by Liu and Hu, an improved body wave equation capable of multimodal swimming motions is adopted in our simulator and artificial swimming data can be further imported enabling various fictive swimming patterns. Furthermore, the swimming data generated from the simulator can directly be fed into the robotic fish for physical verification, and vice versa. More importantly, a series of robotic prototypes with different functions have been built to validate our well-formed ideas and to attain a new level of performance close to real fish. |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/13100] ![]() |
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 |
推荐引用方式 GB/T 7714 | Yu Junzhi,Tan Min,Zhang Jianwei. Swimming simulation and system implementation of a multilink robotic fish[J]. International Journal of Information and Systems Sciences,2010,6(4):365-376. |
APA | Yu Junzhi,Tan Min,&Zhang Jianwei.(2010).Swimming simulation and system implementation of a multilink robotic fish.International Journal of Information and Systems Sciences,6(4),365-376. |
MLA | Yu Junzhi,et al."Swimming simulation and system implementation of a multilink robotic fish".International Journal of Information and Systems Sciences 6.4(2010):365-376. |
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