Kinematic Comparison of Forward and Backward Swimming and Maneuvering in a Self-Propelled Sub-Carangiform 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

	Kinematic Comparison of Forward and Backward Swimming and Maneuvering in a Self-Propelled Sub-Carangiform Robotic Fish
	Wu, Zhengxing1 ; Yu, Junzhi1 ; Tan, Min1 ; Zhang, Jianwei 2
刊名	JOURNAL OF BIONIC ENGINEERING
	2014-04-01
卷号	11 期号:2 页码:199-212
关键词	robotic fish backward swimming Central Pattern Generator (CPG) swimming locomotion control
英文摘要	We make a thorough kinematic comparison of forward and backward swimming and maneuvering on a self-propelled robot platform that uses sub-carangiform swimming as the primary propulsor. An improved Central Pattern Generator (CPG) model allowing free adjustment of phase relationship and directional bias is employed to achieve flexible swimming and smooth transition. Considering the characteristics of forward swimming in carangiforrn fish and backward swimming in anguilliform fish, various backward swimming patterns for the sub-carangiform robotic fish are suitably created by reversing the direction of propagating propulsive waves. Through a combined use of the CPG control and closed-loop swimming direction control strategy, flexible and precise turning maneuvers in both forward and backward swimming are implemented and compared. By contrast with forward swimming, backward swimming requires a higher frequency or an increased lateral displacement to reach the same relative swimming speed. Noticeably, the phase difference shows a greater impact on forward swimming than on backward swimming. Our observations also indicate that the robotic fish achieves a larger turning rate in forward maneuvering than in backward maneuvering, yet these two maneuvers display comparable turning precision.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Engineering, Multidisciplinary ; Materials Science, Biomaterials ; Robotics
研究领域[WOS]	Engineering ; Materials Science ; Robotics
关键词[WOS]	CENTRAL PATTERN GENERATOR ; LOCOMOTION ; ANIMALS ; LAMPREY ; DESIGN
收录类别	SCI
语种	英语
WOS记录号	WOS:000335123300004
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/3501]
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	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Hamburg, Dept Informat, Hamburg, Germany
推荐引用方式 GB/T 7714	Wu, Zhengxing,Yu, Junzhi,Tan, Min,et al. Kinematic Comparison of Forward and Backward Swimming and Maneuvering in a Self-Propelled Sub-Carangiform Robotic Fish[J]. JOURNAL OF BIONIC ENGINEERING,2014,11(2):199-212.
APA	Wu, Zhengxing,Yu, Junzhi,Tan, Min,&Zhang, Jianwei.(2014).Kinematic Comparison of Forward and Backward Swimming and Maneuvering in a Self-Propelled Sub-Carangiform Robotic Fish.JOURNAL OF BIONIC ENGINEERING,11(2),199-212.
MLA	Wu, Zhengxing,et al."Kinematic Comparison of Forward and Backward Swimming and Maneuvering in a Self-Propelled Sub-Carangiform Robotic Fish".JOURNAL OF BIONIC ENGINEERING 11.2(2014):199-212.