【摘 要】
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This paper concs with 3-D locomotion control methods for a biomimetic robot fish. The system architecture of the fish is firstly presented based on a physical m
【机 构】
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Key laboratory of Complex Systems and Intelligence Science, Institute of Automation Chinese Academy
论文部分内容阅读
This paper concs 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.
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