3-D Locomotion control for a biomimetic robot fish
Zhigang Zhang
Shuo WANG
Min Tan
摘要：This paper concerns with 3-D locomotion control methods for a biomimetic robot fish. The system architecture of the fish is firstly presented based on a physical model of carangiform fish. The robot fish has a flexible body, a rigid caudal fin and a pair of pectoral fins, driven by several servomotors. The motion control of the robot fish are then divided into speed control, orientation control, submerge control and transient motion control, corresponding algorithms are detailed respectively.Finally, experiments and analyses on a 4-1ink, radio-controlled robot fish prototype with 3-D locomotion show its good performance.
机标关键词：biomimetic robot fishlocomotion controlsystem architecturephysical modelspeed controlflexible bodymethods for
分类号：O1(数学)
资助基金：国家重点基础研究发展计划(973计划)(2002CB312200)国家高技术研究发展计划(863计划)(2003AA404190)
论文发表日期：2004-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：6( 169-174 )
英文信息