4.1 Introduction ........................................ 71
4.2 Overview of Robotic Fish Prototype ...................... 73
4.2.1 Mechatronic Design ............................. 73
4.2.2 Swimming Gaits Design.......................... 75
4.2.3 Hardware and Software Design of the Controller ........ 75
4.3 Design of a Two-Phase Control System .................... 77
4.3.1 A Two-Phase CPG Control Architecture .............. 77
4.3.2 CPG Model ................................... 78
4.3.3 Lower Reflex Model ............................ 79
4.3.4 Medium Sensory Feedback Model .................. 81
4.3.5 High Hierarchical Feedback Control Model ............ 83
4.4 FSM-Based Gait Transition ............................. 85
4.5 Swimming Performance Optimization ..................... 87
4.5.1 Swimming Performance Indicators .................. 87
4.5.2 Performance Under Consistent Phase Differences........ 88
4.5.3 Performance Under Inconsistent Phase Differences ...... 90
4.6 Test Results Analysis ................................. 91
4.7 Discussion ......................................... 94
4.8 Conclusion and Remark ............................... 97
References ............................................. 98
vi Contents
5 3D Maneuvering Control of a Robotic Fish ................... 101
5.1 Introduction ........................................ 101
5.2 Mechatronic Design of the Updated Robotic Fish ............. 102
5.2.1 Head Design .................................. 103
5.2.2 Pectoral Fins .................................. 104
5.2.3 Multilink Propulsive Mechanism ................... 105
5.3 Analysis and Control of 3D Maneuvers .................... 106
5.3.1 CPG Network ................................. 106
5.3.2 Rotational Maneuvers ........................... 108
5.3.3 Translational Maneuvers ......................... 112
5.3.4 Head Motion Control ............................ 113
5.4 Experiments and Discussion ............................ 114
5.4.1 Testing of Rotational Maneuvers ................... 114
5.4.2 Testing of Backward Swimming .................... 116
5.5 Discussion ......................................... 117
5.6 Concluding Remarks.................................. 119
References ............................................. 120
6 Control of Yaw and Pitch Maneuvers of a Multilink Dolphin
Robot ................................................ 123
6.1 Introduction ........................................ 123
6.2 Overview of the Dolphin Robot ......................... 125
6.3 Analysis and Control of Yaw Turn ....................... 127
6.3.1 Analysis of Yaw Turn ........................... 127
6.3.2 A Two-Segment Model for Yaw Turns ............... 127
6.4 Analysis and Control of Pitch Turn ....................... 128
6.4.1 Analysis of Pitch Turn ........................... 128
6.4.2 Design of the Unbending Phase .................... 129
6.4.3 Maintaining the Pitch Angle ....................... 132
6.5 Results and Discussions ............................... 134
6.5.1 Experimental Setup ............................. 134
6.5.2 Testing of Yaw Turns ........................... 135
6.5.3 Testing of Wide-Range Pitch Turns ................. 136
6.6 Discussion ......................................... 145
6.7 Concluding Remarks.................................. 147
References ............................................. 147
7 Leaping Control of Self-propelled Robotic Dolphin ............. 149
7.1 Introduction ........................................ 149
7.2 Theoretical Analysis of Dolphin Leaping Motion ............. 151
7.3 Motion Control of Leaping Robotic Dolphin ................ 154
7.3.1 Prototype of Leaping Robotic Dolphin ............... 155
7.3.2 AoA-Based Speed Control ........................ 158
7.3.3 Pitch Control .................................. 162
Contents vii
7.3.4 Roll Control .................................. 164
7.3.5 Yaw Control .................................. 164
7.3.6 Depth Control ................................. 165
7.4 Experiments and Results ............................... 165
7.4.1 Speed Tests ................................... 165
7.4.2 Leap Tests ................................... 167
7.5 Discussion ......................................... 169
7.6 Concluding Remarks.................................. 170
References ............................................. 171
8 Motion Control of Self-propelled Robotic Jellyfish .............. 173
8.1 Introduction ........................................ 173
8.2 Prototype of the Self-propelled Robotic Jellyfish ............. 174
8.2.1 Mechanical Design ............................. 174

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自然科学 物理学 理论物理学

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