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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Three-Dimensional Modeling of a Fin-Actuated Robotic Fish With Multimodal Swimming
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Three-Dimensional Modeling of a Fin-Actuated Robotic Fish With Multimodal Swimming

机译：带多模式游泳的鳍动机器人鱼的三维建模

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摘要

Dynamical model is always an important factor in controller design for robots. Existing models of robotic fish typically incorporate only planar motion, rarely considering spatial motion. This paper formulates a complete three-dimensional (3-D) dynamic model for the robotic fish actuated by pectoral and caudal fins, in which the fluid forces mainly contain quasi-steady lift and drag, gravity and buoyancy, and waterjet strike force. The critical lift and drag of flapping fins are derived with an explicit 3-D angle of attack. Taking a bioinspired central pattern generator as the system actuation, our model can produce multimodal maneuvers, including forward/backward swimming, turning, and ascending/descending, as well as complicated motions, such as rolling and spiraling. Motions simulated in a 3-D environment are experimentally validated with a free-swimming robotic fish. Furthermore, systematic comparisons between simulations and experiments are conducted over a wide range of the control parameter space for beating frequency, amplitude, and offset. The overall results demonstrate the effectiveness and the versatility of the developed 3-D dynamic model in the prediction of the robot trajectory, velocity, and attitude.
机译：动态模型始终是机器人控制器设计中的重要因素。现有的机器鱼模型通常只包含平面运动，很少考虑空间运动。本文为由胸鳍和尾鳍驱动的机器人鱼建立了完整的三维（3-D）动力学模型，其中流体力主要包括准稳定的升力和阻力，重力和浮力以及水射流的打击力。扇动鳍的临界升力和阻力是通过明确的3-D迎角得出的。以受生物启发的中央模式生成器作为系统致动，我们的模型可以产生多模式操纵，包括向前/向后游泳，转弯，上升/下降以及复杂的运动，例如滚动和螺旋运动。在3-D环境中模拟的运动通过自由游动的机器人鱼进行了实验验证。此外，在广泛的控制参数空间范围内进行了仿真和实验之间的系统比较，以击败频率，幅度和偏移。总体结果证明了所开发的3-D动态模型在预测机器人轨迹，速度和姿态方面的有效性和多功能性。

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  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2018年第4期|1641-1652|共12页
  • 作者

    Wei Wang; Xia Dai; Liang Li; Banti H. Gheneti; Yang Ding; Junzhi Yu; Guangming Xie;

  • 作者单位

    State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, China;

    School of Electronics and Information Engineering, Beihang University, Beijing, China;

    State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, China;

    Department of Urban Studies and Planning, Massachusetts Institute of Technology, Cambridge, MA, USA;

    Beijing Computational Science Research Center, Beijing, China;

    State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China;

    Institute of Ocean Research, Peking University, Beijing, China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Three-dimensional displays; Robot sensing systems; Solid modeling; Dynamics; Mathematical model; Robot kinematics;

    机译：三维显示器;机器人传感系统;实体建模;动力学;数学模型;机器人运动学;

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