期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 23, 期 4, 页码 1641-1652出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2018.2848220
关键词
Biologically inspired robots; marine robotics; robot dynamics; robotic fish; three-dimensional (3-D) modeling
类别
资金
- National Natural Science Foundation of China [51575005, 61503008, 61633002, 91648120]
- China Postdoctoral Science Foundation [2015M570013, 2016T90016]
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 multi-modal 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.
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