| 3-D Locomotion control for a biomimetic robot fish |
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| 作者姓名： | Zhigang ZHANG Shuo WANG Min TAN |
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| 作者单位： | KeylaboratoryofComplexSystemsandIntelligenceScience,InstituteofAutomationChineseAcademyofSciences,Beijing100080,China |
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| 基金项目： | This work was supported by National 973 Program (No. 2002CB312200) and National Hi-tech Development Project (No. 2003AA404190) |
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| 摘 要： | 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 tins, 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.
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| 关 键 词： | 三维运动控制 仿生机器鱼 离散控制 体系结构 |
| 收稿时间： | 2 December 2003 |
| 修稿时间： | 2004/5/10 0:00:00 |
3-D Locomotion control for a biomimetic robot fish |
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| Zhigang ZHANG,Shuo WANG,Min TAN.3-D Locomotion control for a biomimetic robot fish[J].Journal of Control Theory and Applications,2004,2(2):169-174. |
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| Authors: | Zhigang ZHANG Shuo WANG Min TAN |
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| Affiliation: | Key laboratory of Complex Systems and Intelligence Science, Institute of Automation Chinese Academy of Sciences, Beijing 100080, China |
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| Abstract: | 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. |
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| Keywords: | Biomimetic robot fish 3-D locomotion Discrete control system |
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