3-D locomotion control for a biomimetic robot fish

被引：1
|
作者：
Zhigang Zhang
Shuo Wang
Min Tan
机构：
[1] Institute of Automation Chinese Academy of Sciences,Key laboratory of Complex Systems and Intelligence Science
来源：
Journal of Control Theory and Applications | 2004年 / 2卷 / 2期
关键词：
Biomimetic robot fish; 3-D locomotion; Discrete control system;
D O I：
10.1007/s11768-004-0064-0
中图分类号：
学科分类号：
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 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.
引用
收藏
页码：169 / 174
页数：5
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