Swimming simulation and system implementation of a multilink 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

	Swimming simulation and system implementation of a multilink robotic fish
	Yu Junzhi; Tan Min; Zhang Jianwei
刊名	International Journal of Information and Systems Sciences
	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.