Title :
The Posture Control and 3-D Locomotion Implementation of Biomimetic Robot Fish
Author :
Zhou, Chao ; Cao, Zhiqiang ; Wang, Shuo ; Tan, Min
Author_Institution :
Inst. of Autom., Chinese Acad. of Sci., Beijing
Abstract :
In this paper, a method for the posture control of a biomimetic robot fish TPF-I is proposed. In this method, the position of the robot fish´s gravity centre can be changed by a barycenter-adjustor, which leads to the pitching angle changing. Propelled by coordinating a multi-link body and a tail, the robot fish can complete the posture control and 3-D Locomotion. The 3-D locomotion and posture control are implemented by synthesizing three basic control methods speed control, orientation control and pitching control, which are described in detail respectively. Finally, the experimental results of the robot fish´s motion control are given and the performance is analyzed
Keywords :
biomimetics; marine systems; mobile robots; motion control; position control; 3D locomotion implementation; biomimetic robot fish; motion control; orientation control; pitching control; posture control; speed control; Biomimetics; Gravity; Marine animals; Motion control; Performance analysis; Position control; Propulsion; Robot kinematics; Tail; Velocity control; 3-D Locomotion; Biomimetic robot fish; barycenter-adjustor; posture control;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282107
