On a Miniature Free-Swimming Robotic Fish with Multiple Sensors
On a Miniature Free-Swimming Robotic Fish with Multiple Sensors
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DOI：
10.5772/62887
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发表时间：
2016-03
影响因子：
2.3
通讯作者：
Junzhi Yu;Shifeng Chen;Zhengxing Wu;Weibing Wang
中科院分区：
文献类型：
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作者：
Junzhi Yu;Shifeng Chen;Zhengxing Wu;Weibing Wang
生物启发的机器鱼为水下任务带来了强大的希望。本文讨论了一种具有多传感器的小型自由游动机器鱼的设计和控制问题。首先提出了一种以双连杆串联机构和机械胸鳍为主的综合机械设计方案。接下来，提出了一种基于生物启发的中央模式发生器（CPG）的控制方法，该方法通过来自各种类型的多个传感器的反馈信息来实现三维游泳。最后，35厘米长的机器鱼的实验结果验证了所提出的机电一体化设计和控制方法的有效性。结果表明，CPG控制与传感器信息相结合，大大有助于机器鱼的游泳能力和智能。
Bio-inspired robotic fish hold strong promise for underwater missions. This paper deals with the design and control issues of a miniature free-swimming robotic fish with multiple sensors. Specifically, a synthesized mechanical design scheme mainly relying on a two-link serial mechanism and a pair of mechanical pectoral fins is first presented. Next, a bio-inspired Central Pattern Generator (CPG) based control method aided by feedback information from multiple sensors of various types to achieve three-dimensional swimming is proposed. Finally, experimental results on the 35-centimetre-long robotic fish verify the efficacy of the proposed mechatronic design and control methods. It is found that the CPG control combined with sensory information greatly contributes to swimming ability and intelligence of the robotic fish.