This paper concerns with 3-D locomotion control methods for a biomimetic robot fish. The system architecture of the fish is firstly presented based on a physical model of carangiform fish. The robot fish has a flexibl...This paper concerns with 3-D locomotion control methods for a biomimetic robot fish. The system architecture of the fish is firstly presented based on a physical model of carangiform fish. The robot fish has a flexible body, a rigid caudal fin and a pair of pectoral fins, driven by several servomotors. The motion control of the robot fish are then divided into speed control, orientation control, submerge control and transient motion control, corresponding algorithms are detailed respectively. Finally, experiments and analyses on a 4-link, radio-controlled robot fish prototype with 3-D locomotion show its good performance.展开更多
We have created an inchworm robot capable of the two-anchor crawl gait on level ground and inclined plane. The main novelty is in the design of the inchworm： （1） three-part body that is 3D printed and actuated by t...We have created an inchworm robot capable of the two-anchor crawl gait on level ground and inclined plane. The main novelty is in the design of the inchworm： （1） three-part body that is 3D printed and actuated by two servo motors to allow a looping and lengthening action, （2） passive friction pads to anchor the feet, each of which may be disengaged using a servo motor actuated lever arm, and （3） modular body and electronics. The robot is about 2 feet （61 cm） in length, has a mass of about 4 kg, and uses an open-loop controller to achieve steady crawling gait. The inchworm robot achieved a speed of 2.54 em.sI on level ground as well as on an incline plane of 19~. The energy usage as measured by the Mechanical Cost of Transport （a non-dimensional number defined as the energy used per unit weight per unit distance moved） is 3.34. Our results indicate that simple robotic designs that copy the basic features of natural organisms provide a promising alternative over conventional wheeled robots.展开更多
基金This work was supported by National 973 Program (No. 2002CB312200) and National Hi-tech Development Project (No. 2003AA404190)
文摘This paper concerns with 3-D locomotion control methods for a biomimetic robot fish. The system architecture of the fish is firstly presented based on a physical model of carangiform fish. The robot fish has a flexible body, a rigid caudal fin and a pair of pectoral fins, driven by several servomotors. The motion control of the robot fish are then divided into speed control, orientation control, submerge control and transient motion control, corresponding algorithms are detailed respectively. Finally, experiments and analyses on a 4-link, radio-controlled robot fish prototype with 3-D locomotion show its good performance.
基金This work was partially supported by the United States National Science Foundation through the grant 1566463 to P. A. Bhounsule.
文摘We have created an inchworm robot capable of the two-anchor crawl gait on level ground and inclined plane. The main novelty is in the design of the inchworm： （1） three-part body that is 3D printed and actuated by two servo motors to allow a looping and lengthening action, （2） passive friction pads to anchor the feet, each of which may be disengaged using a servo motor actuated lever arm, and （3） modular body and electronics. The robot is about 2 feet （61 cm） in length, has a mass of about 4 kg, and uses an open-loop controller to achieve steady crawling gait. The inchworm robot achieved a speed of 2.54 em.sI on level ground as well as on an incline plane of 19~. The energy usage as measured by the Mechanical Cost of Transport （a non-dimensional number defined as the energy used per unit weight per unit distance moved） is 3.34. Our results indicate that simple robotic designs that copy the basic features of natural organisms provide a promising alternative over conventional wheeled robots.
