ICRA 2011 Paper Abstract

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Paper WeP107.4

Yu, Junzhi (Institute of Automation, Chinese Academy of Sciences), Wang, Ming (Chinese Academy of sciences), Wang, Weibing (Shihezi University), Tan, Min (Institute of Automation,Chinese Academy of Sciences), Zhang, Jianwei (University of Hamburg)

Design and Control of a Fish-Inspired Multimodal Swimming Robot

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots VI" (WeP107), Wednesday, May 11, 2011, 14:25−14:40, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 10, 2019

Keywords Biomimetics, Biologically-Inspired Robots

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 mechatronic design.

 

 

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