TY - GEN
T1 - Collision-free motion planning for an Anguilliform robotic fish
AU - Xu, Jian Xin
AU - Niu, Xue Lei
AU - Ren, Qin Yuan
AU - Wang, Qing Guo
PY - 2012
Y1 - 2012
N2 - In this paper 1, a motion library and associated control strategies for collision-free motion planning are presented for a biomimetic robotic fish. The Anguilliform robotic fish consists of N links and N - 1 joints. Three major gaits of Anguilliform fish - forward moving, backward moving and turning - are investigated. By giving different reference to joint angles, such as adding reversed phase difference, or adding deflections to the original reference angles, the fish exhibits different locomotion patterns. The relations between the deflection angles, the turning radius and, the transverse displacement, are investigated, and a motion library is constructed based on these relations. Furthermore, we propose collision-free motion planning method based on the motion library. Results of two illustrative examples validate the effectiveness of the method.
AB - In this paper 1, a motion library and associated control strategies for collision-free motion planning are presented for a biomimetic robotic fish. The Anguilliform robotic fish consists of N links and N - 1 joints. Three major gaits of Anguilliform fish - forward moving, backward moving and turning - are investigated. By giving different reference to joint angles, such as adding reversed phase difference, or adding deflections to the original reference angles, the fish exhibits different locomotion patterns. The relations between the deflection angles, the turning radius and, the transverse displacement, are investigated, and a motion library is constructed based on these relations. Furthermore, we propose collision-free motion planning method based on the motion library. Results of two illustrative examples validate the effectiveness of the method.
UR - http://www.scopus.com/inward/record.url?scp=84864843699&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2012.6237272
DO - 10.1109/ISIE.2012.6237272
M3 - Conference contribution
AN - SCOPUS:84864843699
SN - 9781467301589
T3 - IEEE International Symposium on Industrial Electronics
SP - 1268
EP - 1273
BT - Proceedings - 2012 IEEE International Symposium on Industrial Electronics, ISIE 2012
T2 - 21st IEEE International Symposium on Industrial Electronics, ISIE 2012
Y2 - 28 May 2012 through 31 May 2012
ER -