8.2.2 Analysis for Barycenter Adjustment Mechanism
of the Robotic Jellyfish .......................... 178
8.2.3 Dynamic Analysis .............................. 181
8.3 Reinforcement Learning Based Attitude Control .............. 184
8.3.1 A Brief Introduction of Reinforcement Learning ........ 185
8.3.2 Attitude Control of the Robotic Jellyfish .............. 186
8.4 Experiments and Results ............................... 191
8.5 Discussion ......................................... 194
8.6 Concluding Remarks.................................. 195
References ............................................. 196
9 Summary and Outlook ................................... 197
9.1 Technical Contributions ............................... 197
9.2 Future Studies ...................................... 200
Index ...................................................... 203

Motion Control of Biomietic Swimming Robots-高机动仿生机器鱼设计与控制技术 作者简介

Junzhi Yu received the B.E. degree in safety engineering and the M.E. degree in precision instruments and mechanology from the North University of China, Taiyuan, China, in 1998 and 2001, respectively, and the Ph.D. degree in control theory and control engineering from the Institute of Automation, Chinese Academy of Sciences, Beijing, China, in 2003.
From 2004 to 2006, he was a Post-Doctoral Research Fellow with the Center for Systems and Control, Peking University, Beijing. He was an Associate Professor with the Institute of Automation, Chinese Academy of Sciences, in 2006, where he was a Full Professor in 2012. In 2018, he joined the College of Engineering, Peking University, as a Tenured Full Professor. His current research interests include intelligent robots, motion control, and intelligent mechatronic systems.

Junzhi Yu received the B.E. degree in safety engineering and the M.E. degree in precision instruments and mechanology from the North University of China, Taiyuan, China, in 1998 and 2001, respectively, and the Ph.D. degree in control theory and control engineering from the Institute of Automation, Chinese Academy of Sciences, Beijing, China, in 2003.
From 2004 to 2006, he was a Post-Doctoral Research Fellow with the Center for Systems and Control, Peking University, Beijing. He was an Associate Professor with the Institute of Automation, Chinese Academy of Sciences, in 2006, where he was a Full Professor in 2012. In 2018, he joined the College of Engineering, Peking University, as a Tenured Full Professor. His current research interests include intelligent robots, motion control, and intelligent mechatronic systems.


Min Tan received the B.Sc. degree from Tsinghua University, Beijing, China, in 1986, and the Ph.D. degree from the Institute of Automation, Chinese Academy of Sciences (IACAS), Beijing, China, in 1990, both in control science and engineering.
He is currently a Professor with the State Key Laboratory of Management and Control for Complex Systems, IACAS. He has published more than 200 papers in journals, books, and conference proceedings. His research interests include robotics and intelligent control systems.

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