CN102745320B - Backward swimming control method of biomimetic carangiform robot fish - Google Patents
Backward swimming control method of biomimetic carangiform robot fish Download PDFInfo
- Publication number
- CN102745320B CN102745320B CN201210262605.9A CN201210262605A CN102745320B CN 102745320 B CN102745320 B CN 102745320B CN 201210262605 A CN201210262605 A CN 201210262605A CN 102745320 B CN102745320 B CN 102745320B
- Authority
- CN
- China
- Prior art keywords
- fish
- cpg
- machine fish
- steering wheel
- machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 241000251468 Actinopterygii Species 0.000 title claims abstract description 131
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000009182 swimming Effects 0.000 title abstract description 9
- 241000045281 Carangiformes Species 0.000 title abstract 2
- 230000003592 biomimetic effect Effects 0.000 title abstract 2
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 241000932075 Priacanthus hamrur Species 0.000 claims description 21
- 230000003111 delayed effect Effects 0.000 claims description 8
- 210000000006 pectoral fin Anatomy 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000001141 propulsive effect Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 230000003585 interneuronal effect Effects 0.000 claims description 4
- 239000012528 membrane Substances 0.000 claims description 4
- 210000002569 neuron Anatomy 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 3
- 230000009471 action Effects 0.000 abstract description 2
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000011160 research Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- 230000002060 circadian Effects 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- RNAMYOYQYRYFQY-UHFFFAOYSA-N 2-(4,4-difluoropiperidin-1-yl)-6-methoxy-n-(1-propan-2-ylpiperidin-4-yl)-7-(3-pyrrolidin-1-ylpropoxy)quinazolin-4-amine Chemical compound N1=C(N2CCC(F)(F)CC2)N=C2C=C(OCCCN3CCCC3)C(OC)=CC2=C1NC1CCN(C(C)C)CC1 RNAMYOYQYRYFQY-UHFFFAOYSA-N 0.000 description 1
- 235000007926 Craterellus fallax Nutrition 0.000 description 1
- 240000007175 Datura inoxia Species 0.000 description 1
- 101000624947 Homo sapiens Nesprin-1 Proteins 0.000 description 1
- 102100023306 Nesprin-1 Human genes 0.000 description 1
- 241000251539 Vertebrata <Metazoa> Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 101150008740 cpg-1 gene Proteins 0.000 description 1
- 101150014604 cpg-3 gene Proteins 0.000 description 1
- 101150075908 cpg-4 gene Proteins 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The invention discloses a backward swimming control method of a biomimetic carangiform robot fish, based on a CPG (Central Pattern Generator) to control the robot fish to swim. The backward swimming control method comprises the following steps: firstly, building a CPG chain type network topology according to the characteristics of fish swimming to reduce a CPG parameter number and reduce the complexity of a model; secondly, by reasonably regulating parameters of the CPG model, enabling an output signal of the CPG model to satisfy the following condition, in a direction from the head to the tail of the robot fish, phases of the control signal of a steering engine of the robot fish sequentially lag, and amplitudes are sequentially reduced, so that backward propelling force is produced, and backward swimming of the robot fish is realized. The backward swimming control method has the promotion action in deeply understanding a backward swimming motion mechanism of fishes and also provides guidance for enriching motion modals of underwater robots and improving the maneuvering ability of the underwater robots.
Description
Technical field
The invention belongs to bionics field, especially a kind of imitative Scad section machine fish based on central pattern generator (cpg) (CentralPattern Generator, CPG) falls to swim the control method of motion.
Background technology
In long-term natural selection, fish are evolved out outstanding travelling ability.Not only propulsion coefficient is high, manoevreability good for fish travelling, and adaptive capacity to environment is strong, good concealment.These advantages be current under-water robot incomparable, therefore, attracted the travelling mechanism of a large amount of scholar's research fish, wished the ability improving underwater hiding-machine, raise the efficiency and manoevreability, strengthen stability.At present, domestic and international researchist successfully develops numerous bionic machine fish model machine, achieves straight trip, turns to, floats, the action such as dive.But the research of falling to swim for machine fish is less.At occurring in nature, fish rely on the fluctuation of pectoral fin, can realize health and slowly retreat, and eel and slender body fish can change fish body direction of wave travel realization trip.The machine fish BoxyBot that Lausanne, SUI Polytechnics (EPFL) develops under the condition of health failure of oscillation, by pectoral fin revolve turnback, backward flap realize down trip.This type of formula of falling roam all around the would is strong to the dependence of pectoral fin, requires high to machine fish Prototype Design.
Usually, CPG refers to that a class is present in the neuron circuit in invertabrate and vertebrate central nerves system.CPG, by the mutual suppression between neuron, realizes autoexcitation, produces stable circadian signal.Therefore, CPG can when arythmia control or feed back input, controls the rhythm and pace of moving things behavior of biosome, such as, swim, breathe, walk or flight etc.Due to CPG can produce stable circadian signal, strong robustness, real-time is good and be easy to the parameters such as conditioning signal amplitude, frequency, therefore, be widely used in the motion control of robot.Institute of Automation Research of CAS adopt CPG Controlling model achieve machine fish straight trip, turn to, snorkeling etc.In view of CPG control method is producing the advantage in stable travelling motion, what the present invention was successfully applied to machine fish swims control.
Summary of the invention
The object of this invention is to provide the control method that a kind of imitative Scad section machine fish falls to swim motion, what realize machine fish swims motion.The method produces the control signal of machine fish steering wheel based on CPG, controls the fluctuation of fish body.By adjusting the parameter of CPG, realizing control signal and meeting: fish head is on fish tail direction, and phase place is delayed successively, and amplitude reduces successively.Moved by fish bulk wave, produce backward propulsive force, what realize bionic machine fish swims motion.
A kind of imitative Scad section machine fish proposed by the invention falls to swim the control method of motion, it is characterized in that, the method produces by discretization central pattern generator (cpg) (CPG) model the control signal that imitative Scad section machine fish fish body and afterbody drive steering wheel accordingly, to make machine fish fish body from fish head to the direction of fish tail, fish body and afterbody drive the phase place of servos control signal delayed successively, amplitude reduces successively, thus produces backward propulsive force, makes machine fish fall to swim;
Described discretization CPG model is:
In formula, i=1 ..., n, n represent the neuronic number of vibration, and described vibration neuron corresponds to the driving steering wheel of machine fish fish body and afterbody; x
ik () represents the neuronic membrane potential of vibration; y
ik () represents the neuronic adjustment electromotive force of vibration; x
i(k) and y
ik () is intermediateness variable; K represents discrete-time variable; Δ T represents delta time; ω
irepresent the neuronic natural frequency of vibration; m
irepresent the neuronic intrinsic amplitude of vibration; a
1, a
2, b
1, b
2represent the interneuronal coefficient of coupling of vibration; c
irepresent and export magnification factor; z
ik () represents the output signal driving steering wheel to control to corresponding imitative Scad section machine fish fish body afterbody; S represents that machine fish fish body and afterbody drive the maximum angular rate of steering wheel; T represents that machine fish fish body and afterbody drive the control cycle of steering wheel; ω
i, m
i, a
1, a
2, b
2, c
i, S, T be known variables.
The present invention has facilitation to the deep trip movement mechanism that falls understanding fish, simultaneously horn of plenty under-water robot mode of motion, improve its maneuverability guidance be provided.
Accompanying drawing explanation
Fig. 1 is the imitative Scad section machine fish network topology schematic diagram that the present invention is based on CPG;
Fig. 2 is the video interception that the present invention imitates that Scad section machine fish falls to swim motion;
Fig. 3 is control system hardware configuration schematic diagram of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
The described imitative Scad section machine fish that the present invention proposes falls to swim the control method of motion, is utilize multiple CPG oscillating unit to form the Motion Control Network of machine fish.Wherein, CPG oscillating unit builds based on Hopf oscillator and forms, and adopts chain type coupling network structure.It is as follows that described imitative Scad section machine fish falls the move CPG model representation that adopts of trip:
In formula,
represent x
ifirst derivative;
represent y
ifirst derivative,
with
be intermediateness variable; I=1 ..., n, n represent the neuronic number of vibration; x
irepresent the neuronic membrane potential of vibration; y
irepresent the neuronic adjustment electromotive force of vibration; ω
irepresent the neuronic natural frequency of vibration; m
irepresent the neuronic intrinsic amplitude of vibration; a
ij, b
ikrepresent the interneuronal coefficient of coupling of vibration; c
irepresent and export magnification factor; ω
i, m
i, a
ij, b
ik, c
ibe known variables; z
irepresent output signal.
Next, according to the fish body structure of fish swimming feature and machine fish, set up a CPG network topology structure simplified.This topological structure adopts nearest neighbor coupled modes, and namely each CPG unit only has coupled relation with adjacent C PG unit, can significantly reduce model parameter number like this, reduces model complexity.Fig. 1 is the network topological diagram schematic diagram of the imitative Scad section machine fish that the present invention is based on CPG model, as shown in Figure 1, only adjacent with front and back two the CPG unit of each CPG unit (CPG1, CPG2, CPG3 and CPG4) are coupled, form chain structure, to control the rotation of corresponding fish body and afterbody driving steering wheel.
In practical engineering application, when the frequency of CPG unit or amplitude too high time, the difference between CPG twice output signal must by the restriction of steering wheel cireular frequency.Therefore, must redesign the output function of above-mentioned CPG model, and by its discretization.
It is as follows that the discretization that the present invention sets up falls to swim CPG model representation:
In formula, i=1 ..., n, n represent the neuronic number of vibration, and namely machine fish fish body afterbody drives the number of steering wheel, in the present invention, and n=4; x
ik () represents the neuronic membrane potential of vibration; y
ik () represents the neuronic adjustment electromotive force of vibration; x
i(k) and y
ik () is intermediateness variable; K represents discrete-time variable; Δ T represents delta time; ω
irepresent the neuronic natural frequency of vibration; m
irepresent the neuronic intrinsic amplitude of vibration; a
1, a
2, b
1, b
2represent the interneuronal coefficient of coupling of vibration; c
irepresent and export magnification factor; z
ik () represents output signal, control corresponding imitative Scad section machine fish fish body and afterbody driving steering wheel; S represents that fish body and afterbody drive the maximum angular rate of steering wheel; T represents that fish body and afterbody drive the control cycle of steering wheel, ω
i, m
i, a
1, a
2, b
1, b
2, c
i, S, T be known variables, in one embodiment of the invention, ω
i=20, m
1=65, m
2=40, m
3=15, m
4=3, a
1=0, a
2=0, b
1=0, b
2=0, c
i=5.0, S=0.06s/60 °, T=20ms.
Biologist studies discovery: Scad section fish are when travelling, and the fluctuation of health will produce one is transmitted to fish tail row ripple from fish head.This row velocity of wave propagation is greater than the travelling speed of fish, and the amplitude of row ripple is increased to fish tail gradually by fish head.According to people's years of researches such as Lighthill, the wave equation of the fish swimming that Barrett etc. propose can be written as:
y
body(x，t)＝(c
1x+c
2x
2)sin(λx+ωt)，
In formula, y
bodyrepresent the cross travel of fish body; X represents the longitudinal travel of fish body; T represents the time; λ represents wavelength multiples; c
1, c
2represent fish bulk wave intrinsic curve constant; ω represents fish body wave frequency.
Above-mentioned fish body wave equation is analyzed, can find: fish are when travelling, and fish head is to fish tail direction, and body swing amplitude increases successively, and time of oscillation (phase place) is advanced successively.The fish bulk wave of this mode is dynamic can produce preflow push power, realizes the straight trip of fish.If reverse fish bulk wave, make the fluctuation of fish body present fish head to fish tail direction, phase place is delayed successively, and amplitude reduces successively, just can produce backward propulsive force, realizes the trip of falling of fish.
According to above-mentioned analysis, the present invention, by regulating the parameter of described CPG model, meets fish head on fish tail direction to make the output signal of described CPG model, phase place is delayed successively, amplitude reduces successively, thus reverses fish body direction of wave travel, realizes the trip of falling of machine fish.The simplest parameter setting method is, by described discretization CPG model coefficient of coupling a
1, a
2, b
1, b
2be set to zero, namely only x be set
i(k), y
ithe initial value of (k), to be calculated the control output signal of fish body and afterbody driving steering wheel J1-J4 by described CPG model, thus ensure that fish body and afterbody drive the delayed phase relation between the control output signal of steering wheel J1-J4, the fluctuation of fish body is made to present phase place on fish head to fish tail direction delayed successively, amplitude reduces successively, produce backward propulsive force, realize the trip of falling of fish; In addition, in described CPG model, amplitude m
ifor described control output signal z
ithe amplitude of (k).
The imitative Scad section machine fish that the present invention proposes falls trip motion control method and imitates on Scad section machine fish model machine in four joints and be verified, and what Scad section machine fish was imitated in four joints falls trip sport video sectional drawing as shown in Figure 2.
Fig. 3 is control system hardware configuration schematic diagram of the present invention, as shown in Figure 3, in the present invention, imitative Scad section machine fish falls to swim kinetic control system and comprises: 4 of ATmega128 core control panel, wireless communication module WP300, machine fish drive the both sides pectoral fin (J5, J6), power module etc. of steering wheel (J1-J4), machine fish.In control process, the computing discretization CPG model of single chip computer AT mega128 real-time online, produce the control signal of machine fish fish body and afterbody driving steering wheel (J1-J4), the fluctuation of fish body is made to present phase place on fish head to fish tail direction delayed successively, amplitude reduces successively, produce backward propulsive force, the trip of control machine fish.In the travelling process of machine fish, bionic machine fish both sides pectoral fin (J5, J6) keep horizontal stationary, only play equilibrium activity, do not provide any thrust.In addition, machine fish is communicated with upper computer by wireless communication module WP300, by changing in described discretization CPG model the neuronic natural frequency ω that vibrates
i, and send order by upper computer, the speed of falling trip of machine fish can be changed easily and flexibly.Described power module is for being the core control panel of machine fish and driving steering wheel to power.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a Zhong Fang Scad section machine fish falls to swim the control method of motion, it is characterized in that, the method produces by discretization central pattern generator (cpg) (CPG) model the control signal that imitative Scad section machine fish fish body and afterbody drive steering wheel accordingly, to make machine fish fish body from fish head to the direction of fish tail, fish body and afterbody drive the phase place of servos control signal delayed successively, amplitude reduces successively, thus produces backward propulsive force, makes machine fish fall to swim;
Described discretization CPG model is:
In formula, i=1 ..., n, n represent the neuronic number of vibration, and described vibration neuron corresponds to the driving steering wheel of machine fish fish body and afterbody; x
ik () represents the neuronic membrane potential of vibration; y
ik () represents the neuronic adjustment electromotive force of vibration; x
i(k) and y
ik () is intermediateness variable; K represents discrete-time variable; Δ T represents delta time; ω
irepresent the neuronic natural frequency of vibration; m
irepresent the neuronic intrinsic amplitude of vibration; a
1, a
2, b
1, b
2represent the interneuronal coefficient of coupling of vibration, value is zero; c
irepresent and export magnification factor; z
ik () represents the output signal driving steering wheel to control to corresponding imitative Scad section machine fish fish body afterbody; S represents that machine fish fish body and afterbody drive the maximum angular rate of steering wheel; T represents that machine fish fish body and afterbody drive the control cycle of steering wheel; ω
i, m
i, c
i, S, T be known variables.
2. method according to claim 1, is characterized in that, described machine fish fish body and afterbody drive the coupled relation between steering wheel to be chain type coupled relation.
3. method according to claim 2, is characterized in that, the driving steering wheel that each driving steering wheel of described machine fish fish body and afterbody is only adjacent has coupled relation.
4. method according to claim 1, is characterized in that, the travelling of described machine fish meets wave equation:
y
body(x,t)＝(c
1x+c
2x
2)sin(kx+ωt)，
In formula, y
bodyrepresent the cross travel of fish body; X represents the longitudinal travel of fish body; T represents the time; K represents wavelength multiples; c
1, c
2represent fish bulk wave intrinsic curve constant; ω represents fish body wave frequency.
5. method according to claim 1, is characterized in that, described intrinsic amplitude m
ifor described output signal z
ithe amplitude of (k).
6. method according to claim 1, it is characterized in that, comprise for the control system controlled of falling to swim to move to imitative Scad section machine fish: 4 of ATmega128 core control panel, wireless communication module WP300, machine fish drive both sides pectoral fin and the power module of steering wheels, machine fish.
7. method according to claim 6, is characterized in that, in the travelling process of machine fish, the both sides pectoral fin of described machine fish keeps horizontal stationary, only plays equilibrium activity, does not provide any thrust.
8. method according to claim 6, is characterized in that, described ATmega128 core control panel drives the control signal of steering wheel according to the raw machine fish fish body of discrete CPG model real-time online real estate and afterbody; Described power module is for being the core control panel of machine fish and driving steering wheel to power.
9. method according to claim 6, is characterized in that, machine fish is communicated with upper computer by described wireless communication module WP300, with the parameter ω by changing in described discretization CPG model
i, change the speed of falling trip of machine fish.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210262605.9A CN102745320B (en) | 2012-07-26 | 2012-07-26 | Backward swimming control method of biomimetic carangiform robot fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210262605.9A CN102745320B (en) | 2012-07-26 | 2012-07-26 | Backward swimming control method of biomimetic carangiform robot fish |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102745320A CN102745320A (en) | 2012-10-24 |
| CN102745320B true CN102745320B (en) | 2015-03-11 |
Family
ID=47025922
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210262605.9A Active CN102745320B (en) | 2012-07-26 | 2012-07-26 | Backward swimming control method of biomimetic carangiform robot fish |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102745320B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002948B (en) * | 2014-06-06 | 2016-04-06 | 西北工业大学 | Two degrees of freedom bionic machine fish carries the control method of target |
| CN104590517B (en) * | 2014-12-18 | 2017-02-08 | 西北工业大学 | Compound posture and orbit control method for underwater vehicle |
| CN106383521B (en) * | 2016-11-05 | 2021-05-18 | 杭州畅动智能科技有限公司 | Motion processing module based on robot development platform |
| CN106737726A (en) * | 2016-12-01 | 2017-05-31 | 南京航空航天大学 | A kind of machine tadpole and its working method |
| CN107444598B (en) * | 2017-07-12 | 2019-03-26 | 河海大学 | A kind of three joint designs method of machine fish based on improvement fish body wave equation |
| CN109739241A (en) * | 2019-01-24 | 2019-05-10 | 刘志成 | A kind of Four-feet creeping robot C PG control system of imitative lizard body structure |
| CN109976233A (en) * | 2019-04-25 | 2019-07-05 | 西安交通大学 | A kind of motion control method and control system of three-dimensional motion machine fish |
| CN111190364A (en) * | 2019-12-06 | 2020-05-22 | 南京工程学院 | Bionic dolphin intelligent control method based on sensory feedback CPG model |
| CN111176116B (en) * | 2020-01-02 | 2021-05-28 | 西安交通大学 | Closed-loop feedback control method for robot fish based on CPG model |
| CN113342012B (en) * | 2021-06-08 | 2022-07-26 | 西北工业大学 | Course control method of sliding and flapping integrated aircraft |
| CN113753209B (en) * | 2021-08-18 | 2022-09-06 | 中国科学院自动化研究所 | Bionic fluctuation control method and system based on bionic robot fish |
| CN114460849B (en) * | 2022-04-12 | 2022-07-12 | 北京晟海汇泽科技有限公司 | Bionic robot fish motion control method and device and bionic robot fish |
| CN116300473B (en) * | 2023-04-14 | 2023-09-22 | 清华大学深圳国际研究生院 | Soft bionic robot fish swimming optimization method based on CPG model |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005230344A (en) * | 2004-02-20 | 2005-09-02 | Ryomei Eng Corp Ltd | Artificial fish |
| CN100442185C (en) * | 2006-09-01 | 2008-12-10 | 北京大学 | Biomimetic machine fish in multiple modes |
| CN201102625Y (en) * | 2007-07-18 | 2008-08-20 | 中国科学院自动化研究所 | Three-dimensional motion bionic machine fish |
| CN101776863B (en) * | 2009-11-17 | 2011-07-27 | 中国科学院自动化研究所 | Movement control method of pectoral fin impelling type machine fish |
| CN101916071B (en) * | 2010-08-04 | 2012-05-02 | 中国科学院自动化研究所 | CPG feedback control method of biomimetic robot fish movement |
| CN102303700B (en) * | 2011-05-26 | 2013-09-04 | 中国科学院自动化研究所 | Multiple control surface robotic fish with embedded vision |
-
2012
- 2012-07-26 CN CN201210262605.9A patent/CN102745320B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN102745320A (en) | 2012-10-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102745320B (en) | Backward swimming control method of biomimetic carangiform robot fish | |
| CN101916071B (en) | CPG feedback control method of biomimetic robot fish movement | |
| Zhong et al. | On a CPG-based hexapod robot: AmphiHex-II with variable stiffness legs | |
| CN100491197C (en) | Double bodies machinery fish | |
| CN101776863B (en) | Movement control method of pectoral fin impelling type machine fish | |
| CN100442185C (en) | Biomimetic machine fish in multiple modes | |
| CN101870109B (en) | Fish swimming imitating robot movement control device and method | |
| CN110077566B (en) | Multi-joint connecting rod type tail mechanism and bionic robot fish propelled by same | |
| Wu et al. | Kinematic comparison of forward and backward swimming and maneuvering in a self-propelled sub-carangiform robotic fish | |
| Yu et al. | Amphibious Pattern Design of a Robotic Fish with Wheel‐propeller‐fin Mechanisms | |
| CN113636048B (en) | Multi-joint robot fish and motion control method thereof | |
| CN202574602U (en) | Electromagnetic power bionic robotic fish | |
| Ma et al. | A biomimetic cownose ray robot fish with oscillating and chordwise twisting flexible pectoral fins | |
| Niu et al. | Development and depth control of a robotic fish mimicking cownose ray | |
| CN102079382B (en) | Underwater mechanical bionic flapping wing thruster | |
| CN109866904B (en) | Motion and speed control method of bionic jellyfish underwater robot | |
| CN111443605A (en) | Method for constructing bionic wave fin propulsion motion control equation and parameter setting optimization method thereof | |
| CN103213664A (en) | Dual-drive bionic pectoral fin framework | |
| US7869910B1 (en) | Auto-catalytic oscillators for locomotion of underwater vehicles | |
| Martínez-García et al. | Robot fish caudal propulsive mechanisms: A mini-review | |
| CN101609306A (en) | A kind of method for controlling motion of bionic long-fin undulatory propeller | |
| Cao et al. | Applying central pattern generators to control the robofish with oscillating pectoral fins | |
| Yin et al. | A salamander-like amphibious robot: System and control design | |
| CN109911197B (en) | Four-degree-of-freedom ornithopter device | |
| Yao et al. | Development of a turtle-like underwater vehicle using central pattern generator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yu Junzhi Inventor after: Wu Zhengxing Inventor after: Chen Shifeng Inventor after: Tan Min Inventor before: Yu Junzhi Inventor before: Wu Zhengxing Inventor before: Tan Min |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: YU JUNZHI WU ZHENGXING TAN MIN TO: YU JUNZHI WU ZHENGXING CHEN SHIFENG TANMIN |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |