TY - GEN
T1 - Step function based turning maneuvers in biomimetic robotic fish
AU - Yu, Junzhi
AU - Wang, Ming
AU - Tan, Min
AU - Li, Y. F.
PY - 2009
Y1 - 2009
N2 - This paper presents a new turning maneuver generation method for a multilink biomimetic robotic fish, in which smooth step functions are introduced to dynamically trigger directed offsets in active and asymmetric swimming. With the proposed method, three basic turning modes can be unified into a general framework by choosing appropriate step-function combinations and dynamic bias. Furthermore, this method can be employed to maneuver the robotic fish agilely in the path planning, which promises more flexibility and steadiness in potential applications to bio-inspired autonomous underwater vehicles. © 2009 IEEE.
AB - This paper presents a new turning maneuver generation method for a multilink biomimetic robotic fish, in which smooth step functions are introduced to dynamically trigger directed offsets in active and asymmetric swimming. With the proposed method, three basic turning modes can be unified into a general framework by choosing appropriate step-function combinations and dynamic bias. Furthermore, this method can be employed to maneuver the robotic fish agilely in the path planning, which promises more flexibility and steadiness in potential applications to bio-inspired autonomous underwater vehicles. © 2009 IEEE.
UR - http://www.scopus.com/inward/record.url?scp=70350365276&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-70350365276&origin=recordpage
U2 - 10.1109/ROBOT.2009.5152230
DO - 10.1109/ROBOT.2009.5152230
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 9781424427895
SP - 3431
EP - 3436
BT - Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -