Hu Yonghui, Liang Jianhong, Wang Tianmiao
School of Control and Computer Engineering, North China Electric Power University, Beijing 102206, People's Republic of China.
Bioinspir Biomim. 2015 Mar 30;10(2):026006. doi: 10.1088/1748-3190/10/2/026006.
This paper presents mechatronic design and locomotion control of a biomimetic robotic fish that swims using thunniform kinematics for fast cruising. Propulsion of the robotic fish is realized with a parallel four-bar propulsive mechanism that delivers combined translational and rotational motion to a lunate caudal fin. A central pattern generator controller, composed of two unidirectionally coupled Hopf oscillators, is employed to generate robust, smooth and coordinated oscillatory control signals for the tail joints. In order to maintain correct phase relation between joints during fast tail beating, a novel phase adjusting mechanism is proposed and incorporated into the controller. The attitude of the robotic fish in fast swimming is stabilized using an attitude and heading reference system unit and a pair of pitching pectoral fins. The maximum speed of the robotic fish can reach 2.0 m s(-1), which is the fastest speed that robotic fishes have achieved. Its outstanding swimming performance presents possibilities for deployment to real-world exploration, probe and survey missions.
本文介绍了一种仿生机器人鱼的机电一体化设计及运动控制，该机器人鱼采用鲔式运动学进行快速巡航游动。机器人鱼的推进通过一个平行四杆推进机构实现，该机构将平移和旋转运动相结合传递给新月形尾鳍。采用由两个单向耦合霍普夫振荡器组成的中央模式发生器控制器，为尾关节生成稳健、平滑且协调的振荡控制信号。为了在快速摆尾期间保持关节之间正确的相位关系，提出了一种新颖的相位调整机构并将其纳入控制器。利用姿态和航向参考系统单元以及一对俯仰胸鳍来稳定机器人鱼在快速游动时的姿态。该机器人鱼的最大速度可达2.0米/秒，这是机器人鱼已达到的最快速度。其出色的游动性能为部署到现实世界的探索、探测和勘测任务提供了可能性。
