Title :
Turning Control of a Multilink Biomimetic Robotic Fish
Author :
Yu, Junzhi ; Liu, Lizhong ; Wang, Long ; Tan, Min ; Xu, De
Author_Institution :
Lab. of Complex Syst. & Intell. Sci., Chinese Acad. of Sci., Beijing
Abstract :
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.
Keywords :
biomimetics; mobile robots; motion control; robot kinematics; underwater vehicles; dynamic simulation; fin kinematics; free swimming; multilink biomimetic robotic fish; turning control; Biomimetics; Intelligent systems; Laboratories; Marine animals; Path planning; Propulsion; Remotely operated vehicles; Robot control; Tail; Turning; Biomimetic robotic fish; maneuver; path planning; turning control; underwater robot;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2007.914850
