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| 1 | 一种2自由度胸鳍推进机构设计与动力学分析显示文摘以箱鲀为仿生对象,设计了一种两侧胸鳍对称布置,单侧2自由度胸鳍能够实现摇翼运动、前后拍翼运动以及两者复合运动的仿生机器鱼,建立了其利用'划水模式'推进的水动力学模型,通过数值方法给出了胸鳍摆动周期、幅值以及初始角的变化与直线游动速度之间的关系,实验结果验证了其有效性.在此基础上,确定了所设计仿生机器鱼采用'划水模式'推进时的直线游动模态.研究结果表明,胸鳍'划水模式'推进的仿生机器鱼具有较高的效率和运动速度. | 李宗刚 毛著元 高溥 谢广明 | 2016 | 机器人2016，38，1： | 11 |
| 2 | Towards an Esox lucius inspired multimodal robotic fish显示文摘In this paper, we further explore multimodal locomotion via an updated robotic fish model based on Esox lucius. Besides the improved actuation properties like higher torque servomotors and powerful electronics,the robotic fish has some innovative mechanical design to pursue diverse swimming modes and superior performance. Specifically, we introduced a ±50° yawing head joint that functions as the neck for enhancing turning ability. A pair of pectoral mechanisms with two DOFs per fin is constructed to achieve 3-D swimming and to enrich multiple pectoral motions. At the control level, an improved central pattern generator(CPG) model allowing for free adjustment of the phase relationship among outputs is employed to produce rhythmic signals of multimodal swimming. Extensive experiments were carried out to examine how characteristic parameters in CPGs including amplitude, frequency, and phase lag affect the swimming performance. As a result, the robotic fish successfully performed various locomotion actions such as forward swimming, backward swimming, turning, diving, surfacing, as well as three pectoral motions in the form of pitching, heaving, and heaving-pitching.We found that small phase lag between oscillating joints which means large propulsive body wave length and undulation width could lead to a faster swimming in body and/or caudal fin(BCF) locomotion. | WU ZhengXing YU JunZhi SU ZongShuai TAN Min LI ZhenLong | 2015 | Science China(Information Sciences)2015，58，5： | 11 |
| 3 | Trajectory tracking control of a bionic robotic fish based on iterative learning显示文摘A bionic robotic fish has great potential application prospect.High maneuverability swimming control of a bionic robotic fish has been one of the research hotspots in the robotic fish field.In this paper,an iterative learning method has been proposed to solve the trajectory tracking control problem of robotic fish swimming.First,a dynamic model of the multi-joint bionic robotic fish is established.By considering a three-joint robotic fish as an example,the unified expression of the dynamic equation of the three-joint bionic robotic fish is obtained by Lagrange method.Second,the iterative learning controller for controlling the bionic robotic fish is designed.Then the convergence of the iterative learning controller is proved.Finally,the trajectory tracking control simulation experiment based on iterative learning is conducted.The simulation results show that the trajectory tracking control method based on iterative learning for a bionic robotic fish is effective. | Ming WANG Yanlu ZHANG Huifang DONG Junzhi YU | 2020 | Science China(Information Sciences)2020，63，7： | 7 |
| 4 | A survey on fabrication,control,and hydrodynamic function of biomimetic robotic fish显示文摘Understanding and replicating the locomotion principles offish are fundamental in the development of artificial fishlike robotic systems,termed robotic fish.This paper has two objectives:(1) to review biological clues on biomechanics and hydrodynamic flow control offish swimming and(2) to summarize design and control methods for efficient and stable swimming in robotic fishes.Our review of state-of-the-art research and future-oriented new directions indicates that fish-inspired biology and engineering interact in mutually beneficial ways.This strong interaction offers an important insight into the design and control of novel fish-inspired robots that addresses the challenge of environmental uncertainty and competing objectives;in addition,it also facilitates refinement of biological knowledge and robotic strategies for effective and efficient swimming. | YU JunZhi WEN Li REN ZiYu | 2017 | Science China(Technological Sciences)2017，60，9： | 7 |
| 5 | Central Pattern Generator(CPG)Control of a Biomimetic Robot Fish for Multimodal Swimming显示文摘This paper introduces the design and control of a biomimetic robot fish for multimodal swimming.The biomimetic design consists of three parts:the rigid head,the wire-driven body and the compliant tail.The control is an improved Central Pattern Generator(CPG)with the high-level control command:(M,co,B,R),where M is the amplitude,co is the angular velocity,B is the offtet and R is the time ratio between two phases forming one flapping cycle.This method differs from previous research in two aspects:(1)The CPG control is firstly implemented on the wire-driven robot fish.(2)The improved CPG model synthesizes symmetrical flapping in cruising and asymmetrical flapping in turning for the robot fish.The asymmetrical flapping refers to the asymmetry of the offset and the time ratio.This combination of the design and the control has several advantages over the existing multimodal swimming robot fishes.First,it uses just one driving motor for undulatory oscillation while the others need to use two or more motors.Second,with just one motor,the CPG control can be easily implemented.Third,the use of the time ratio,R,makes the robot fish turn more naturally and effectively.Experimental results show the robot fish achieved the maximum speed of 1.37 Body Length/Second(BL.s-1)and the largest turning rate of 4577s.Additionally,in many swimming conditions,its Strouhal Number falls in the range from 0.2 to 0.4,which implies the robot fish is efficient. | Fengran Xie Yong Zhong Ruxu Du Zheng Li | 2019 | Journal of Bionic Engineering2019，16，2： | 4 |
| 6 | 关于多机器鱼编队优化控制的研究显示文摘多机器鱼的编队控制问题,是研究多机器鱼作为一个群体向特定目标或者方向运动,在运动过程中机器鱼相互之间建立并保持指定的几何形状,同时又要适应环境约束。为了实现多机器鱼的编队优化控制,提出了一种领导者-跟随者编队策略和一致性理论相结合的编队控制方法,首先基于图论法,在三维坐标系下应用领导者-跟随者策略,使不同初始位置的多个跟随鱼移动至合适位置,与领导鱼形成指定的几何图形编队;再采用一致性理论实现多个跟随鱼与领导鱼的速度和加速度同步,形成稳定移动的编队。在Matlab环境下进行了3D仿真,仿真结果表明提出的编队优化控制方法是可行的,并具有容易控制和控制稳定的特点。 | 杨阳 罗文广 齐宏芳 贾彤 | 2016 | 计算机仿真2016，33，12： | 1 |
| 7 | Rhythm motion control in bio-inspired fishtail based on central pattern generator显示文摘The elastic oscillation structure based on central pattern generators(CPGs),which can produce rhythmic motions,is discussed.First,Hopf CPG,the typical CPG model,being a signal generator for the elastic oscillation structure,is analysed via the theory of differential equations.Next,the well-posedness results of a coupling system composed by the CPG and an elastic beam are proved by means of the linear operator semi-group theory.Then,the numerical results using the finite difference method indicate that the coupled system can obtain a variety of periodic motion behaviours by choosing the internal parameters of the CPG network.Finally,the dynamic simulation of complex system motion is investigated using COMSOL Multiphysics. | Song Chen Yubiao Liu Tehuan Chen Junqiang Lou | 2021 | IET Cyber-Systems and Robotics2021，3，1： | 1 |
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