Modeling, Control and Locomotion Planning of an Anguilliform Robotic Fish
In this paper, mathematical model, control law design, different locomotion patterns, and locomotion planning are presented for an Anguilliform robotic fish. The robotic fish, consisted of links and joints, are driven by torques applied to the joints. Considering kinematic constraints, Lagrangian fo...
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Published in | Unmanned systems (Singapore) Vol. 2; no. 4; pp. 295 - 321 |
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Main Authors | , |
Format | Journal Article |
Language | English |
Published |
Singapore
World Scientific Publishing Company
01.10.2014
World Scientific Publishing Co. Pte., Ltd |
Subjects | |
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Abstract | In this paper, mathematical model, control law design, different locomotion patterns, and locomotion planning are presented for an Anguilliform robotic fish. The robotic fish, consisted of links and joints, are driven by torques applied to the joints. Considering kinematic constraints, Lagrangian formulation is used to obtain the mathematical model of the robotic fish. The model reveals the relation between motion of the fish and external forces. Computed torque control method is first applied, which can provide satisfactory tracking performance for reference joint angles. To deal with parameter uncertainties, sliding model control is adopted. Three locomotion patterns — forward locomotion, backward locomotion, and turning locomotion — are realized by assigning appropriate reference angles to the joints, and the three locomotions are verified by experiments and simulations. A new form of central pattern generator (CPG) model is presented, which consists of three-dimensional coupled Andronov–Hopf oscillators, artificial neural network, and outer amplitude modulator. By using this CPG model, swimming pattern of a real Anguilliform fish is successfully applied to the robotic fish in an experiment. |
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AbstractList | In this paper, mathematical model, control law design, different locomotion patterns, and locomotion planning are presented for an Anguilliform robotic fish. The robotic fish, consisted of links and joints, are driven by torques applied to the joints. Considering kinematic constraints, Lagrangian formulation is used to obtain the mathematical model of the robotic fish. The model reveals the relation between motion of the fish and external forces. Computed torque control method is first applied, which can provide satisfactory tracking performance for reference joint angles. To deal with parameter uncertainties, sliding model control is adopted. Three locomotion patterns — forward locomotion, backward locomotion, and turning locomotion — are realized by assigning appropriate reference angles to the joints, and the three locomotions are verified by experiments and simulations. A new form of central pattern generator (CPG) model is presented, which consists of three-dimensional coupled Andronov–Hopf oscillators, artificial neural network, and outer amplitude modulator. By using this CPG model, swimming pattern of a real Anguilliform fish is successfully applied to the robotic fish in an experiment. |
Author | Niu, Xuelei Xu, Jianxin |
Author_xml | – sequence: 1 givenname: Xuelei surname: Niu fullname: Niu, Xuelei email: h44632186@gmail.com organization: Singapore University of Technology & Design, 20 Dover Drive, Singapore 138682, Singapore – sequence: 2 givenname: Jianxin surname: Xu fullname: Xu, Jianxin email: elexujx@nus.edu.sg organization: Department of Electrical & Computer Engineering, National University of Singapore, Singapore 117583, Singapore |
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CitedBy_id | crossref_primary_10_1093_icb_icaa131 crossref_primary_10_1088_1748_3190_abe7cc crossref_primary_10_1016_j_oceaneng_2019_106334 crossref_primary_10_1007_s42235_019_0111_7 crossref_primary_10_1109_ACCESS_2020_3045227 crossref_primary_10_3390_jmse11061236 crossref_primary_10_1093_icb_icac039 crossref_primary_10_5772_acrt_09 |
Cites_doi | 10.1109/TCST.2006.883228 10.1016/S1672-6529(11)60006-1 10.1016/j.neunet.2008.03.014 10.1177/0278364902021010095 10.1017/S0022112070001830 10.1098/rspb.1971.0085 10.1109/TRO.2007.914850 10.1109/TRO.2006.875492 10.1163/156855309X443124 10.1109/JOE.2004.833208 10.1109/TRO.2007.892221 10.1109/TSMCB.2008.925752 10.1177/0278364907083394 10.1109/TRO.2008.915426 10.1007/s10514-009-9169-0 10.1007/978-1-4612-1828-9 10.1109/TSMCB.2004.831151 10.1242/jeb.202.11.1511 10.1109/TRA.2003.814495 10.1016/S1672-6529(11)60112-1 10.1109/48.757275 10.1016/S1672-6529(13)60197-3 10.1109/LED.2007.911625 10.1109/TAC.2004.832658 10.1109/TMECH.2008.2009759 10.1109/TRO.2006.882923 |
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Notes | This paper was recommended for publication in its revised form by Guest Editor, Jason Gu. |
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References | rf5 rf23 rf4 rf22 Craig J. J. (rf26) 1989 rf7 rf25 rf6 rf24 rf9 rf8 rf21 rf20 rf27 rf29 Slotine J. (rf28) 1991 rf33 rf14 rf36 rf13 rf35 rf30 rf10 rf31 rf16 rf15 D'Aout K. (rf37) 1999; 202 rf1 |
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SubjectTerms | Artificial neural networks Computer simulation Fish Locomotion Mathematical models Neural networks Oscillators Parameter uncertainty Robotics Swimming Three dimensional models Torque |
Title | Modeling, Control and Locomotion Planning of an Anguilliform Robotic Fish |
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