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Implementing high-maneuverability swimming with biomimetic robotic fish
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作者 YU JunZhi WU ZhengXing +1 位作者 su zongshuai TAN Min 《Science Foundation in China》 CAS 2015年第4期69-80,共12页
In this paper,we present an overview of the mechanical design and control of biomimetic robotic fishes with high maneuverability.The robotic fishes modelled after Esoxlucius adopt multilink propulsive mechanism for a ... In this paper,we present an overview of the mechanical design and control of biomimetic robotic fishes with high maneuverability.The robotic fishes modelled after Esoxlucius adopt multilink propulsive mechanism for a high turning rate and a small turning radius.According to different tasks,these robotic fishes are designed with decorated pectoral fins for a two-dimensional horizon plane,or controllable pectoral fins with multiple degrees of freedom for a three-dimensional space.Through observing and analyzing the fast-starts of real fish,we separately develop a dynamic trajectory tracking strategy based C-start control method and an L-shaped sliding method based S-start control method.Finally,a four-link robotic fish is able to execute C-start flexibly with a turning angle of up to 213°,a top turning rate of approximately670°/s,and an upper limit of turning precision of less than 10°and an S-start with a peak turning rate up to318.08±9.20°/s.The experimental results verify the feasibility of our high-maneuverability-oriented mechatronic design and control methods. 展开更多
关键词 Biomimetics ROBOTIC FISH High MANEUVERABILITY Motion control
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