Optimal design and motion control of biomimetic robotic fish

doi:10.1007/s11432-008-0023-3

CORC > 北京大学 > 工学院

	Optimal design and motion control of biomimetic robotic fish
	Yu JunZhi ; Wang Long ; Zhao Wei ; Tan Min
刊名	science in china series f information sciences
	2008
关键词	biomimetic robotic fish optimization design mechatronics motion control central pattern generator (CPG) ANGUILLIFORM LOCOMOTION SWIMMING MACHINE PERFORMANCE VEHICLES SPEED
DOI	10.1007/s11432-008-0023-3
英文摘要	This paper is concerned with the design, optimization, and motion control of a radio-controlled, 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-length-ratios 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 regulating the rotating angle of pectoral fins. The experimental results verify that the presented scheme and method are effective in design and implementation.; Computer Science, Information Systems; SCI(E); 4; ARTICLE; 5; 535-549; 51
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/248535]
专题	工学院
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.
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.
MLA	Yu JunZhi,et al."Optimal design and motion control of biomimetic robotic fish".science in china series f information sciences (2008).