NDLI: Design and control of a fish-inspired multimodal swimming robot

Content Provider	IEEE Xplore Digital Library
Author	Junzhi Yu Ming Wang Weibing Wang Min Tan Jianwei Zhang
Copyright Year	2011
Description	Author affiliation: Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China (Junzhi Yu; Min Tan) \|\| School of Information and Electric Engineering, Shandong Jianzhu University, Jinan 250101, China (Ming Wang) \|\| Machine and Electricity Engineering College, Shihezi University, Xinjiang Uygur Autonomous Region 832003, China (Weibing Wang) \|\| Department of Informatics, University of Hamburg, Germany (Jianwei Zhang)
Abstract	Presented in this paper is our effort to create a multifunctional swimming robot, i.e., robotic fish, inspired by the well-integrated, configurable multiple control surfaces existing in real fish. By virtue of the hybrid propulsion capability in the tail plus the caudal fin and the maneuverability in accessory fins, a novel, synthesized propulsion scheme composed of multiple artificial control surfaces is proposed, involving the tail plus the caudal fin, pectoral fins, pelvic fin, and dorsal fin. Multimodal locomotion is then accomplished by manipulation of control surfaces, separately or cooperatively, allowing the robot to maneuver more diversely and agilely. In particular, bio-inspired Central Pattern Generators (CPGs) based locomotion control is adopted for online swimming gait generation. Aquatic testing has been carried out to demonstrate the improved maneuverability and stability of the robotic fish underwater as well as the effectiveness of the conceived multi-fin mechatronic design.
Starting Page	3664
Ending Page	3669
File Size	442765
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979652
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Propulsion Turning Oscillators Joints Robot kinematics Surface morphology
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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