Abstract
This chapter is devoted to the development and control issues of a multi-joint robotic fish, with emphasis on creating a controlled kinematic and dynamic centered environment to further shed light on designing control methods. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a synthesized propulsion scheme involving a caudal fin, a pair of pectoral fins, as well as a pelvic fin is proposed. To aid the systematic analysis of the multi-joint tail, a multilink Digital Fish Simulator (DFS) is developed, enabling simulations of various fictive swimming patterns. To achieve flexible yet stable motions in aquatic environments, both body wave-based control and central pattern generator—(CPG)-based control are proposed and compared in terms of oscillatory signals and swimming stability. Furthermore, a series of multi-joint robotic prototypes with diversified functions have been built to validate the well-formed ideas and to attain a new level of swimming performance close to real fish.
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Acknowledgments
This work is supported by the National Natural Science Foundation of China (nos. 61375102, 61333016, 61421004), the Beijing Natural Science Foundation (no. 3141002), and the Project-Based Personnel Exchange Program with CSC and DAAD (2013).
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Yu, J., Tan, M. (2015). Design and Control of a Multi-joint Robotic Fish. In: Du, R., Li, Z., Youcef-Toumi, K., Valdivia y Alvarado, P. (eds) Robot Fish. Springer Tracts in Mechanical Engineering. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-46870-8_4
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