%0 Journal Article
%T Study on the Pitching and Depth Control of Biomimetic Robot Fish<br>仿生机器鱼俯仰与深度控制方法
%A ZHOU Chao
%A CAO Zhi-Qiang
%A WANG Shuo
%A TAN Min
%A <br>周超
%A 曹志强
%A 王硕
%A 谭民
%J 自动化学报
%D 2008
%I 
%X In the paper,a heave locomotion robotic fish TPF (Three DOFs posture-controllable fish robot)is proposed,which is composed of a multi-linked oscillating tail and a barycenter- adjustor which can change the robot-fish's center of gravity by moving an inside weight.The pitching angle and submergence of the robotic fish are analyzed.In order to make such a biomimetic robot realize heave locomotion and suspend in water,a control paradigm is proposed.In this paradigm,multi-link propulsive system and pitching angle are controlled separately and work together.The propulsive system keeps the robotic fish at a uni- form speed based on swimming gaits and oscillating frequency. And a controller with deformation compensation is presented to adjust the turning angle of the barycenter-adjustor's servo mo- tor on the basis of the depth feedback.Experimental results show that the proposed control method is valid,and its perfor- mance is much better than that of a general controller in depth maintaining of robotic fish TPF.
%K Biomimetic robot fish
%K barycenter-adjustor
%K posture control
%K depth control<br>仿生机器鱼
%K 重心调节
%K 俯仰控制
%K 深度控制
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=DB43707416BDE0716C585B2338D180B1&yid=67289AFF6305E306&vid=339D79302DF62549&iid=9CF7A0430CBB2DFD&sid=B7C3373069B7AC9F&eid=E2F55FDAFC844F27&journal_id=0254-4156&journal_name=自动化学报&referenced_num=1&reference_num=12