| 水下仿生机器鱼的研究进展I——鱼类推进机理 |
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| 引用本文： | 梁建宏,王田苗,魏洪兴.水下仿生机器鱼的研究进展I——鱼类推进机理[J].机器人,2002,24(2). |
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| 作者姓名： | 梁建宏 王田苗 魏洪兴 |
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| 作者单位： | 北京航空航天大学机器人研究所 北京100083
(梁建宏，王田苗)，北京航空航天大学机器人研究所 北京100083(魏洪兴) |
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| 基金项目： | 中国科学院机器人学开放研究实验室基金资助项目 (项目编号 :RL 2 0 0 0 11)，国防基础科研项目 (项目编号 :J13 0 0 C10 0 4) |
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| 摘 要： | 仿生机器鱼技术是近年来水下机器人领域研究的热点之一 ,它为研制高效、高机动性和低噪声的水下运载器提供了新的思路 .本文以鱼的脊椎曲线为研究对象 ,提出了一种新的鱼类推进机理——波动推进 ,分析了波动推进过程中的运动阻力 .通过鱼类游动观测实验和仿生机器鳗鱼的研制 ,验证了该理论的有效性
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| 关 键 词： | 仿生机器鱼 脊椎曲线 波动推进 |
RESEARCH AND DEVELOPMENT OF UNDERWATERROBOFISH I- DEVELOPMENT OF A SMALLEXPERIMENTAL ROBOFISH |
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| LIANG Jian,hong\ WANG Tian,miao\ WEI Hong,xing.RESEARCH AND DEVELOPMENT OF UNDERWATERROBOFISH I- DEVELOPMENT OF A SMALLEXPERIMENTAL ROBOFISH[J].Robot,2002,24(2). |
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| Authors: | LIANG Jian hong\ WANG Tian miao\ WEI Hong xing |
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| Abstract: | The Bionic Robofish Technology is one of the hotspots in the underwater robotics research field in recent years. It provides a new train of thinking for people to develop the underwater vehicles with high efficiency, high maneuverability, and low noise. This article makes some research on the fish vertebral curve, brings forward a fish propulsion theory-undulate propulsion. And the drag during the fish's undulate propulsion is also analyzed. Through the observing experiments on real fish swimming and bionic robot eel developing, we prove the efficiency of this theory. |
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| Keywords: | robofish vertebral curve undulate propulsion |
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