This paper deals with the mechanical design and realization of a robotic fish inspired by well-integrated,conf...
WANG Weibing 1,YU Junzhi 2,WANG Ming 2,DING Rui 2 1.Machine and Electricity Engineering College,Shihezi University,Xinjiang Uygur Autonomous Region 832003,P.R.China 2.Lab of COMPSYS,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,P.R.China
This paper presents a practical swimming data prediction method for a free-swimming,three-link robotic fish.Si...
Wang Ming1,2,Yu Junzhi1,Tan Min1,Yang Qinghai1 1.Laboratory of Complex Systems and Intelligence Science Institute of Automation,Chinese Academy of Sciences,Beijing 100080,P.R.China 2.School of Information and Electric Engineering Shandong Jianzhu University,Jinan 250101,P.R.China
This paper is concerned with the design, optimization, and motion control of a radiocontrolled, multi-link, free-swimming biomimetic robotic fish based on an optimized kinematic and dynamic model of fish swimming. The performance of the robotic fish is determined by both the fish＇s morphological characteristics and kinematic parameters. By applying ichthyologic theories of propulsion, a design framework that takes into consideration both mechatronic constraints in physical realization and feasibility of control methods is presented, under which a multiple linked robotic fish that integrates both the carangiform and anguilliform swimming modes can be easily developed. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-lengthratios are numerically calculated by an improved constrained cyclic variable method, which are successfully applied to a series of real robotic fishes. The rhythmic movements of swimming are driven by a central pattern generator （CPG） based on nonlinear oscillations, and up-and-down motion by regulating the rotating angle of pectoral fins. The experimental results verify that the presented scheme and method are effective in design and implementation.
The neural-based approaches inspired by biological neural mechanisms of locomotion are becoming increasingly popular in robot control.This paper investigates a systematic method to formulate a Central Pattern Generator(CPG) based control model for mul-timodal swimming of a multi-articulated robotic fish with flexible pectoral fins.A CPG network is created to yield diverse swim-ming in three dimensions by coupling a set of nonlinear neural oscillators using nearest-neighbor interactions.In particular,a sensitivity analysis of characteristic parameters and a stability proof of the CPG network are given.Through the coordinated con-trol of the joint CPG,caudal fin CPG,and pectoral fin CPG,a diversity of swimming modes are defined and successfully imple-mented.The latest results obtained demonstrate the effectiveness of the proposed method.It is also confirmed that the CPG-based swimming control exhibits better dynamic invariability in preserving rhythm than the conventional body wave method.
