1T. Fukuda, A. Kawamoto, F. Arai. Mechanism and Swimming Experiment of Micro Robot in Water[C]. Proceedings of the 1994 IEEE. Conference on Robotics and Automation, San Diego, CA, USA, 1994:814 -819.
2X. Tan, Y. Zhong, Y. Yang. Design and Experi Ment of Micro Mobile Robot in Liquid[C]. Proeeeding of the 4th World Congress on Intelligent Control and Automation, Shanghai, China, 2002:1223 - 1225.
3X. Deng, S. Avadhanula. Biomimetic Micro Underwater Vehicle with Oscillating Fin Propulsion: System Design and Force Measurement [ C ]. Proceedings of the 2005 IEEE International Conference on Robotics Automation, Barcelona, Spain, 2005:3312-3317.
2Smits J G,Dalke S I,Cooney T K. The Constituent Equation of Piezoelectric Bimorphs. Sensors and Actuator,1991, A, 28:41-61.
3Smits J G,Ballato A. Dyna Micadmittance Matrix of Piezoelectriccantil Ever Bimorphs. Journal of microelectromechanical system, 1994,3 (3) : 105 - 112.
4Sfakiotukis M.Lane D M.Davies J.et al.Review of fish swimming modes for aquatic locomotion[J].IEEE Journal of Ocean Engineering,1999.24(2):237-252.
5Ikuta K.Micro/miniature shape memory alloy actuator[A].Proceedings of the 1990 IEEE International Conference on Robotics and Automation[C].USA:IEEE,1999.2156-2161.
6Fukuda T.Hosokai H.Kikuchi I.et al.Distribution type of actuators by shape memory alioy and its application to underwater mobile robotic mechonism[A].Proceedings of the 1990 IEEE International Conference on Robotics and Automation[C].USA:IEEE,1990.1316-1321.
7Garner L J.Wilson L N.Lagoudas D C.et al.Development of a shape memory alloy actuated biomimetic vehicle[J].Smart Materials and Structures,2000.9(5):673-683.
8普朗特.流体力学[M].北京:科学出版社,1981..
9Birch J M,Dickson W B.et al.Dickinson force production and flow structure of the leading edge vortex on flapping wings at high and low Reynolds numbers[J].Journal of Experimental Biology.2004.207:1063-1072.
10Ma N.Song G.Control of shape memory alloy actuator using pulse width modulation[J].Smart Materials and Structures.2003.12(5):712-719.
