Swimming Motion Control for Biometric Fish Robot by Utilizing Turning Coefficient

2011 Second International Conference on Intelligent Systems, Modelling and Simulation Pub Date : 2011-01-25 DOI:10.1109/ISMS.2011.76

Yoong Hou Pin, Lin Boon Hoe, K. T. T. Kin, I. Saad

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引用次数: 1

Abstract

In this paper turning coefficient had been utilize for the swimming motion equation of a biometric fish robot. The swimming equation based on Carangiform Wave is cascaded with the arc equation to change the oscillating axis during turning movement (Chao Zhou). Usually turning movement is generated by defining the turning radius of the arc equation to bend the Carangiform oscillating axis. This involves the computation of turning radius power of two and infinite radius value during straight movement. Thus turning coefficient had been introduced to the arc equation to simplify the computation process and the turning coefficient can set as zero during straight movement. With the implementation of turning coefficient, the turning radius is fixed at a minimum value. This reduces the computational time of about 9% and maintaining the ability to perform smooth turning movement. Infrared sensor provides environment feedback for altering the turning coefficient linearly. The rate of change for the turning coefficient can be adjusted to define the sensitivities of the fish reacting to the environment.

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基于转向系数的生物识别鱼类机器人游泳运动控制

本文将转向系数用于生物识别鱼类机器人的游泳运动方程。将基于矢状波的游泳方程与圆弧方程级联，改变转弯运动(潮周)时的振荡轴。通常通过定义圆弧方程的转弯半径来产生车削运动，从而使矢状振荡轴发生弯曲。这涉及到直线运动过程中2的转弯半径幂和无限半径值的计算。在圆弧方程中引入转弯系数，简化了计算过程，直线运动时转弯系数可设为零。随着转弯系数的实现，转弯半径固定在一个最小值。这减少了约9%的计算时间，并保持了执行平稳转弯运动的能力。红外传感器为转弯系数的线性变化提供了环境反馈。转弯系数的变化率可以调整，以确定鱼对环境反应的敏感性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2011 Second International Conference on Intelligent Systems, Modelling and Simulation

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