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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Junzhi Yu Ming Wang Min Tan Li, Y.F. |
| Copyright Year | 2009 |
| Description | Author affiliation: Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Kowloon, Hong Kong (Li, Y.F.) || Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China (Junzhi Yu; Ming Wang; Min Tan) |
| Abstract | This paper presents a new turning maneuver generation method for a multilink biomimetic robotic fish, in which smooth step functions are introduced to dynamically trigger directed offsets in active and asymmetric swimming. With the proposed method, three basic turning modes can be unified into a general framework by choosing appropriate step-function combinations and dynamic bias. Furthermore, this method can be employed to maneuver the robotic fish agilely in the path planning, which promises more flexibility and steadiness in potential applications to bio-inspired autonomous underwater vehicles. |
| Starting Page | 3431 |
| Ending Page | 3436 |
| File Size | 564888 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424427888 |
| ISSN | 10504729 |
| DOI | 10.1109/ROBOT.2009.5152230 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-05-12 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Turning Biomimetics Robots Marine animals Tail Underwater vehicles Propulsion Robotics and automation Vehicle dynamics Path planning |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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