On a Miniature Free-swimming Robotic Fish with Multiple Sensors

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	On a Miniature Free-swimming Robotic Fish with Multiple Sensors
	Yu, Junzhi 1; Chen, Shifeng 1; Wu, Zhengxing 1; Wang, Weibing 2; Wu, Zhengxing; Yu, Junzhi
刊名	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2016-04-01
卷号	13
关键词	Bio-inspired Robot Swimming Control Robotic Fish Multi-sensor Underwater Robotics
通讯作者	Yu, Junzhi
英文摘要	Bio-inspired robotic fish hold strong promise for underwater missions. This paper deals with the design and control issues of a miniature free-swimming robotic fish with multiple sensors. Specifically, a synthesized mechanical design scheme mainly relying on a two-link serial mechanism and a pair of mechanical pectoral fins is first presented. Next, a bio-inspired Central Pattern Generator (CPG) based control method aided by feedback information from multiple sensors of various types to achieve three-dimensional swimming is proposed. Finally, experimental results on the 35-centimetre-long robotic fish verify the efficacy of the proposed mechatronic design and control methods. It is found that the CPG control combined withsensory information greatly contributes to swimming ability and intelligence of the robotic fish.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Robotics
研究领域[WOS]	Robotics
关键词[WOS]	CENTRAL PATTERN GENERATOR ; LOCOMOTION ; IMPLEMENTATION ; OSCILLATORS ; MODELS
收录类别	SCI
语种	英语
WOS记录号	WOS:000374338300002
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/12204]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Yu, Junzhi
作者单位	1. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China 2. Machine and Electricity Engineering College, Shihezi University, Shihezi, China
推荐引用方式 GB/T 7714	Yu, Junzhi ,Chen, Shifeng ,Wu, Zhengxing ,et al. On a Miniature Free-swimming Robotic Fish with Multiple Sensors[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2016,13.
APA	Yu, Junzhi ,Chen, Shifeng ,Wu, Zhengxing ,Wang, Weibing ,Wu, Zhengxing,&Yu, Junzhi.(2016).On a Miniature Free-swimming Robotic Fish with Multiple Sensors.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,13.
MLA	Yu, Junzhi ,et al."On a Miniature Free-swimming Robotic Fish with Multiple Sensors".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 13(2016).