| 仿生机器鱼研究的进展与分析 |
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| 引用本文： | 喻俊志,陈尔奎,王 硕,谭 民.仿生机器鱼研究的进展与分析[J].控制理论与应用,2003,20(4):485-491. |
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| 作者姓名： | 喻俊志 陈尔奎 王 硕 谭 民 |
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| 作者单位： | 1. 中国科学院,自动化研究所,复杂系统与智能科学实验室,北京,100080
2. 中国矿业大学,信电学院,江苏,徐州,221008 |
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| 基金项目： | 国家863计划机器人技术主题(2001AA422370)资助项目. |
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| 摘 要： | 介绍了仿生机器鱼具有效率高、机动性好、噪音低、对环境扰动小的特点和几种分类方法, 以及国内外在鱼类推进机理和仿生机器鱼研制方面的成果和现状, 在此基础上分析了机器鱼研究的主要内容: 鱼类推进理论模型、仿生机器鱼机械结构、仿生机器鱼游动的推进速度、运动方程、Q效率、Q功率等方面的客观规律, 特别是其控制性能和相关技术问题.
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| 关 键 词： | 仿生机器鱼 推进机理 现状 控制性能 |
| 文章编号： | 1000-8152(2003)04-0485-07 |
| 收稿时间： | 2/6/2002 12:00:00 AM |
| 修稿时间： | 2002年2月6日 |
Research evolution and analysis of biomimetic robot fish |
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| YU Jun-zhi,CHEN Er-kui,WANG Shuo and TAN Min.Research evolution and analysis of biomimetic robot fish[J].Control Theory & Applications,2003,20(4):485-491. |
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| Authors: | YU Jun-zhi CHEN Er-kui WANG Shuo and TAN Min |
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| Affiliation: | Lab for Complex System and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China;College of Information and Electrics, China University of Mining and Technology, Jiangsu Xuzhou 221008, China;Lab for Complex System and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China;Lab for Complex System and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China |
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| Abstract: | Some classifying methods, the characteristics and the current situation of both propulsive mechanism and development at home and abroad towards robot fish were presented. The design of underwater vehicle was characterized by highspeed, high-efficiency, good-maneuverability, low-noise and easy-hide. Based on the former, the research involved rules of the following: propulsive mechanism of fish, mechanic structure of biomimetic robot fish, propulsive speed of robot fish, function of robot fish movement, Q efficiency, Q power, etc. The control performance and technical problems of this study were discussed as well. |
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| Keywords: | biomimetic robot fish propulsive mechanism current situation control performance |
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