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
Hauptverfasser:	Wang, Shuo, Wang, Yu, Wei, Qingping, Tan, Min, Yu, Junzhi
Format:	Artikel
Sprache:	eng
Schlagworte:	Bio-inspired robot course control depth control Force Propulsion Prototypes Robot sensing systems Servomotors Tracking waypoint tracking
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