Design and Control of a Fish-Inspired Multimodal Swimming Robot
Presented in this paper is our effort to create a multifunctional swimming robot, i.e., robotic fish, inspired by the well-integrated, configurable multiple control surfaces existing in real fish. By virtue of the hybrid propulsion capability in the tail plus the caudal fin and the maneuverability in accessory fins, a novel, synthesized propulsion scheme composed of multiple artificial control surfaces is proposed, involving the tail plus the caudal fin, pectoral fins, pelvic fin, and dorsal fin. Multimodal locomotion is then accomplished by manipulation of control surfaces, separately or cooperatively, allowing the robot to maneuver more diversely and agilely. In particular, bioinspired Central Pattern Generators (CPGs) based locomotion control is adopted for online swimming gait generation. Aquatic testing has been carried out to demonstrate the improved maneuverability and stability of the robotic fish underwater as well as the effectiveness of the conceived multi-fin mechatronic design.
Junzhi Yu Ming Wang Weibing Wang Min Tan Jianwei Zhang
Laboratory of Complex Systems and Intelligence Science,Institute of Automation,Chinese Academy of Sc School of Information and Electric Engineering,Shandong Jianzhu University,Jinan 250101,China Machine and Electricity Engineering College,Shihezi University,Xinjiang Uygur Autonomous Region 8320 Department of Informatics,University of Hamburg,Germany
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3664-3669
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）