A Bio-Inspired Robot With Undulatory Fins and Its Control Methods
A Bio-Inspired Robot With Undulatory Fins and Its Control Methods
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DOI：
10.1109/tmech.2016.2622761
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发表时间：
2017-02
期刊：
影响因子：
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通讯作者：
Shuo Wang;Yu Wang;Qingping Wei;M. Tan;Junzhi Yu
中科院分区：
文献类型：
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作者：
Shuo Wang;Yu Wang;Qingping Wei;M. Tan;Junzhi Yu
本文提出了一种带有波状鳍的仿生机器人并总结了其控制方法。首先，通过实验实现和评估三个基本动作，即向前/向后游泳、潜水/上升运动和转身。接下来，提出了一种将自抗扰控制与模糊策略相结合的混合控制，以根据三个基本运动的评估来实现闭环深度和航向控制。最后，介绍了该仿生机器人的基于有限状态机的视线引导系统的路点跟踪。游泳实验的结果证明了所提出方法的有效性。
This paper proposes a bio-inspired robot with undulatory fins and summarizes its control methods. First, three basic motions, forward/backward swimming, diving/rising motion, and turning, are implemented and evaluated by experiments. Next, a hybrid control that combines active disturbance rejection control with a fuzzy strategy is presented to achieve closed-loop depth and course control according to the evaluation of the three basic motions. Finally, waypoint tracking with a line-of-sight guidance system based on a finite-state machine for this bio-inspired robot is presented. The results of swimming experiments are provided to illustrate the validity of the proposed methods.