Towards an Esox lucius inspired multimodal 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

	Towards an Esox lucius inspired multimodal robotic fish
	Wu, ZhengXing; Yu, JunZhi; Su, ZongShuai; Tan, Min; Li, ZhenLong
刊名	SCIENCE CHINA-INFORMATION SCIENCES
	2015-05-01
卷号	58 期号:5
关键词	bio-inspired robot robotic fish CPG multimodal swimming motion control
通讯作者	Yu, Junzhi
英文摘要	In this paper, we further explore multimodal locomotion via an updated robotic fish model based on Esox lucius. Besides the improved actuation properties like higher torque servomotors and powerful electronics, the robotic fish has some innovative mechanical design to pursue diverse swimming modes and superior performance. Specifically, we introduced a ±50° yawing head joint that functions as the neck for enhancing turning ability. A pair of pectoral mechanisms with two DOFs per fin is constructed to achieve 3-D swimming and to enrich multiple pectoral motions. At the control level, an improved central pattern generator (CPG) model allowing for free adjustment of the phase relationship among outputs is employed to produce rhythmic signals of multimodal swimming. Extensive experiments were carried out to examine how characteristic parameters in CPGs including amplitude, frequency, and phase lag affect the swimming performance. As a result, the robotic fish successfully performed various locomotion actions such as forward swimming, backward swimming, turning, diving, surfacing, as well as three pectoral motions in the form of pitching, heaving, and heaving-pitching. We found that small phase lag between oscillating joints which means large propulsive body wave length and undulation width could lead to a faster swimming in body and/or caudal fin (BCF) locomotion.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Computer Science, Information Systems
研究领域[WOS]	Computer Science
关键词[WOS]	UNDERWATER ROBOT ; PECTORAL FIN ; PATTERN ; COORDINATION ; KINEMATICS ; LAMPREY
收录类别	SCI
语种	英语
WOS记录号	WOS:000353818200004
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/8119]
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, China
推荐引用方式 GB/T 7714	Wu, ZhengXing,Yu, JunZhi,Su, ZongShuai,et al. Towards an Esox lucius inspired multimodal robotic fish[J]. SCIENCE CHINA-INFORMATION SCIENCES,2015,58(5).
APA	Wu, ZhengXing,Yu, JunZhi,Su, ZongShuai,Tan, Min,&Li, ZhenLong.(2015).Towards an Esox lucius inspired multimodal robotic fish.SCIENCE CHINA-INFORMATION SCIENCES,58(5).
MLA	Wu, ZhengXing,et al."Towards an Esox lucius inspired multimodal robotic fish".SCIENCE CHINA-INFORMATION SCIENCES 58.5(2015).