Please use this identifier to cite or link to this item: https://doi.org/10.1109/ISIE.2013.6563687
Title: Motion control for a multi-joint robotic fish with the pectoral fins assistance
Authors: Xu, J. 
Ren, Q.
Guo, Z.
Niu, X.
Issue Date: 2013
Source: Xu, J.,Ren, Q.,Guo, Z.,Niu, X. (2013). Motion control for a multi-joint robotic fish with the pectoral fins assistance. IEEE International Symposium on Industrial Electronics : -. ScholarBank@NUS Repository. https://doi.org/10.1109/ISIE.2013.6563687
Abstract: In this paper, we present a novel motion control approach for a multi-joint robotic fish with the pectoral fins assistance. The robotic fish undulates its body and tail to produce the basic swimming patterns that are generated by a general internal model (GIM), while twists its pectoral fins to assist the body to reach the desired direction. The hydrodynamics of the pectoral fin movements is first analyzed. Then the motion control strategies in two basic patterns, namely 'cruise' and 'C sharp turning', are explored. Since it is difficult to explicitly formulate the hydrodynamics of the pectoral fin movements, a model-freed fuzzy logic control (FLC) is employed in the robotic fish control system. Finally, the effectiveness of the approach is verified through experiment results. © 2013 IEEE.
Source Title: IEEE International Symposium on Industrial Electronics
URI: http://scholarbank.nus.edu.sg/handle/10635/71018
ISBN: 9781467351942
DOI: 10.1109/ISIE.2013.6563687
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