Swimming performance of a robotic fish in both straight swimming and making a turn

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 performance of a robotic fish in both straight swimming and making a turn
	Zhang, Cheng; Yu, Junzhi; Tan, Min
	2015
会议名称	12th IEEE International Conference on Mechatronics and Automation, ICMA 2015
会议日期	Dec. 3, 2016– Dec. 7, 2016
会议地点	Beijing, China
关键词	maneuverability Mechanical structure dynamic formula posture CPG model oscillation amplitude
英文摘要	In this paper, we present a novel robotic fish capable of maneuverability and yet with less joints. The maneuverability of the robotic fish is researched on two aspects: straight swimming and performing a turn before which, the mechanical structure, dynamic formula and posture of robotic fish are respectively designed and analyzed. Besides, the CPG-based control and the analysis of variation regulation in the oscillation amplitude of the fishtail are combined to determine the posture of the robotic fish. Next, underwater tests are performed on the robotic fish for collecting the data which provides the information to draw many conclusions.
会议录	2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/13037]
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	State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China
推荐引用方式 GB/T 7714	Zhang, Cheng,Yu, Junzhi,Tan, Min. Swimming performance of a robotic fish in both straight swimming and making a turn[C]. 见:12th IEEE International Conference on Mechatronics and Automation, ICMA 2015. Beijing, China. Dec. 3, 2016– Dec. 7, 2016.