A Bio-Inspired Robot With Undulatory Fins and Its Control Methods
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...
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Veröffentlicht in: | IEEE/ASME transactions on mechatronics 2017-02, Vol.22 (1), p.206-216 |
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Format: | Artikel |
Sprache: | eng |
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Zusammenfassung: | 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. |
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ISSN: | 1083-4435 1941-014X |
DOI: | 10.1109/TMECH.2016.2622761 |