Optimal design and motion control of biomimetic robotic fish

作     者：YU JunZhi WANG Long ZHAO Wei TAN Min 

作者机构：Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 China Department of Mechanics and Space Technologies Peking University Beijing 100871 China 

出 版 物：《Science in China(Series F)》 (中国科学（F辑英文版）)

年 卷 期：2008年第51卷第5期

页      面：535-549页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：the National Natural Science Foundation of China (Grant Nos. 60505015, 60775053 and 60635010) "863" Program (Grant No. 2007AA04Z202) 

主　　题：biomimetic robotic fish optimization design mechatronics motion control central pattern generator (CPG) 

摘      要：This paper is concerned with the design, optimization, and motion control of a radiocontrolled, multi-link, free-swimming biomimetic robotic fish based on an optimized kinematic and dynamic model of fish swimming. The performance of the robotic fish is determined by both the fish＇s morphological characteristics and kinematic parameters. By applying ichthyologic theories of propulsion, a design framework that takes into consideration both mechatronic constraints in physical realization and feasibility of control methods is presented, under which a multiple linked robotic fish that integrates both the carangiform and anguilliform swimming modes can be easily developed. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-lengthratios are numerically calculated by an improved constrained cyclic variable method, which are successfully applied to a series of real robotic fishes. The rhythmic movements of swimming are driven by a central pattern generator （CPG） based on nonlinear oscillations, and up-and-down motion by regulating the rotating angle of pectoral fins. The experimental results verify that the presented scheme and method are effective in design and implementation.