Turning control of a multilink biomimetic robotic fish

被引：53
作者：
Yu, Junzhi [1 ]
Liu, Lizhong [2 ]
Wang, Long [2 ]
Tan, Min [1 ]
Xu, De [1 ]
机构：
[1] Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
[2] Peking Univ, Dept Mech & Space Technol, Beijing 100871, Peoples R China
来源：
IEEE TRANSACTIONS ON ROBOTICS | 2008年 / 24卷 / 01期
基金：
中国国家自然科学基金;
关键词：
biomimetic robotic fish; maneuver; path planning; turning control; underwater robot;
D O I：
10.1109/TRO.2007.914850
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper deals with maneuver issues of a multilink biomimetic robotic fish, particularly focusing on turning control in free swimming. The characteristic parameters determining turning performance involve magnitude, position, and time of the deflections applied to the links, which are discussed via a series of simulation calculations and actual experiments.
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页码：201 / 206
页数：6
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