An Integrative Control Method for Bio-Inspired Dolphin Leaping: Design and Experiments
An Integrative Control Method for Bio-Inspired Dolphin Leaping: Design and Experiments
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DOI：
10.1109/tie.2015.2511081
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发表时间：
2016-05
影响因子：
7.7
通讯作者：
Junzhi Yu;Zongshuai Su;Zhengxing Wu;M. Tan
中科院分区：
文献类型：
--
作者：
Junzhi Yu;Zongshuai Su;Zhengxing Wu;M. Tan
本文提出了复制海豚高速跳跃行为的跳跃控制方法的设计与实现。在充分考虑物理机器人的机械结构和推进原理的基础上，将俯仰、横滚、偏航和深度闭环控制方法相结合，实现了机器人的精确姿态控制。具体而言，两个俯仰控制策略，提出了分别满足小和大的俯仰角的实时反馈的基础上的要求，而滚动控制器进一步实现为比例积分微分（PID）回路。俯仰和滚转控制的组合用于调节期望的俯仰机动。最后，一个参数化的五相跳跃控制算法，而不是Weihs的三相porpoising模型上实现的自包含的真实的机器人，使生物跳跃现象，这是很难观察或测量的检查。最新的实验结果表明，除了超过最低出口速度的高速度外，与俯仰角和浸没深度密切相关的俯仰控制是影响海豚有效跳跃的另一个关键因素。
This paper presents the design and implementation of leaping control methods for replicating high-speed dolphin leaping behavior. With full consideration of both mechanical configuration and propulsive principle of a physical robot comprising one neck joint, two propulsive joints, and a pair of two-degrees-of-freedom (2-DOF) mechanical flippers, closed-loop pitch, roll, yaw, and depth control methods are integrated to accomplish precise attitude control. Specifically, two pitch control strategies are proposed to separately satisfy small and large pitch requirements based on the real-time feedback of the pitch angle, while the roll controller is further implemented as a proportional-integral-derivative (PID) loop. A combination of pitch and roll control is utilized to regulate the desired pitch maneuvers. Finally, a parameterized five-phase leaping control algorithm instead of Weihs's three-phase porpoising model is implemented on the self-contained real robot, enabling the examination of biological leaping phenomena which are hard to observe or measure. Latest experimental results reveal that besides high speeds exceeding the minimum exit speeds, the pitch control closely related to pitch angle and submersion depth is another critical factor contributing to effective dolphin leaping.