Exploring the backward swimming ability of a robotic fish: Combining   modelling and experiments

doi:10.1177/1729881416669483

CORC > 北京大学 > 工学院

	Exploring the backward swimming ability of a robotic fish: Combining modelling and experiments
	Li, Liang ; Wang, Chen ; Fan, Ruifeng ; Xie, Guangming
刊名	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2016
关键词	Backward swimming ability fixed-point model optimization robotic fish LOCOMOTION DESIGN EEL
DOI	10.1177/1729881416669483
英文摘要	This article investigates the capability for backward swimming of a carangiform-fish-like robot with only three joints. A simple dynamic model based on a fixed point, a point in the body without perpendicular oscillation, is first developed to analyze the feasibility of backward motion for the robot. Through this theoretical analysis, we find that the fixed point lies closer to the robotic fish tail with higher backward swimming speeds. Combining the theoretical analysis with experimental optimization, we further explore backward swimming patterns using particle swarm optimization. After a series of online optimal experiments, we find several locomotion gaits that can make the robotic fish swim backward, and the corresponding fixed points are similarly located near the tail. The backward swimming velocity is strongly correlated with the fixed point position along the robotic fish body, which verifies the effectiveness of our fixed-point model.; National Natural Science Foundation of China [51575005, 61503008, 61633002]; China Postdoctoral Science Foundation [2015M570013, 2016T90016]; SCI(E); ARTICLE; 13
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/476602]
专题	工学院
推荐引用方式 GB/T 7714	Li, Liang,Wang, Chen,Fan, Ruifeng,et al. Exploring the backward swimming ability of a robotic fish: Combining modelling and experiments[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2016.
APA	Li, Liang,Wang, Chen,Fan, Ruifeng,&Xie, Guangming.(2016).Exploring the backward swimming ability of a robotic fish: Combining modelling and experiments.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS.
MLA	Li, Liang,et al."Exploring the backward swimming ability of a robotic fish: Combining modelling and experiments".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS (2016).