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		Zhigang ZHANG,Shuo WANG,Min TAN.[en_title][J].Control Theory and Technology,2004,2(2):169~174.[Copy]

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ZhigangZHANG,ShuoWANG,MinTAN
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Received:December 02, 2003Revised:May 10, 2004

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3-D Locomotion control for a biomimetic robot fish

Zhigang ZHANG, Shuo WANG, Min TAN

(Key laboratory of Complex Systems and Intelligence Science, Institute of Automation Chinese Academy of Sciences, Beijing 100080, China)

Abstract:

This paper concerns with 3-D locomotion control methods for a biomimetic robot fish.The system architecture of the fish is firstly presented based on a physical model of carangiform fish.The robot fish has a flexible body, a rigid caudal fin and a pair of pectoral fins, driven by several servomotors.The motion control of the robot fish are then divided into speed control, orientation control,submerge control and transient motion control, corresponding algorithms are detailed respectively.Finally, experiments and analyses on a 4-link, radio-controlled robot fish prototype with 3-D locomotion show its good performance.

Key words: Biomimetic robot fish 3-D locomotion Discrete control system