%0 Journal Article
%T Swimming Backward of a Biomimetic Carangiform Robot Fish<br>仿鲹科机器鱼的倒退游动控制
%A ZHOU Chao
%A CAO Zhi-Qiang
%A WANG Shuo
%A DONG Xiang
%A TAN Min
%A <br>周超
%A 曹志强
%A 王硕
%A 董翔
%A 谭民
%J 自动化学报
%D 2008
%I 
%X This paper proposes a novel backward-swimming method of biomimetic carangiform robot fish based on its body and tail undulation.The motion law of the carangiform robot fish is modified according to the backward-swimming law of Eu- ropean eel to achieve the backward-swimming motion of the robot fish.A qualitative kinematic analysis of the robot fish swimming in water is given to analyze the propulsion produced by the undulation of the multi-link tall and the backward- swimming method.Combining with other motions,the ap- proach of the turning in backward-swimming and the emergency stop are given.Experimental results of the robot fish's motion are given and the performance is analyzed.
%K Biomimetic robot fish
%K carangiform mode
%K swimming backward
%K combined motion<br>仿生机器鱼
%K 鲹科运动
%K 倒退游动
%K 组合运动
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=F990C87F92472F640EB433654B1930BD&yid=67289AFF6305E306&vid=339D79302DF62549&iid=5D311CA918CA9A03&sid=6A2E9D0F5619615A&eid=4E3F821C82005C21&journal_id=0254-4156&journal_name=自动化学报&referenced_num=0&reference_num=17