On a Miniature Free-Swimming Robotic Fish with Multiple Sensors
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...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2016-04-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/62887 |
| _version_ | 1818318381685669888 |
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| author | Junzhi Yu Shifeng Chen Zhengxing Wu Weibing Wang |
| author_facet | Junzhi Yu Shifeng Chen Zhengxing Wu Weibing Wang |
| author_sort | Junzhi Yu |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-13T09:52:19Z |
| format | Article |
| id | doaj.art-cafe9d235d894110a9593ee1941286fc |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-13T09:52:19Z |
| publishDate | 2016-04-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-cafe9d235d894110a9593ee1941286fc2022-12-21T23:51:54ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142016-04-011310.5772/6288710.5772_62887On a Miniature Free-Swimming Robotic Fish with Multiple SensorsJunzhi Yu0Shifeng Chen1Zhengxing Wu2Weibing Wang3 Machine and Electricity Engineering College, Shihezi University, Shihezi, China State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China Machine and Electricity Engineering College, Shihezi University, Shihezi, ChinaBio-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.https://doi.org/10.5772/62887 |
| spellingShingle | Junzhi Yu Shifeng Chen Zhengxing Wu Weibing Wang On a Miniature Free-Swimming Robotic Fish with Multiple Sensors International Journal of Advanced Robotic Systems |
| title | On a Miniature Free-Swimming Robotic Fish with Multiple Sensors |
| title_full | On a Miniature Free-Swimming Robotic Fish with Multiple Sensors |
| title_fullStr | On a Miniature Free-Swimming Robotic Fish with Multiple Sensors |
| title_full_unstemmed | On a Miniature Free-Swimming Robotic Fish with Multiple Sensors |
| title_short | On a Miniature Free-Swimming Robotic Fish with Multiple Sensors |
| title_sort | on a miniature free swimming robotic fish with multiple sensors |
| url | https://doi.org/10.5772/62887 |
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