Motion Control of Biomimetic Swimming Robots (Research on Intelligent Manufacturing)

This book reports on the latest advances in the study of motion control in biomimetic swimming robots with high speed and high manoeuvrability. It presents state-of-the-art studies on various swimming robots including robotic fish, dolphins and jellyfish in a unified framework, and discusses the potential benefits of applying biomimetic underwater propulsion to autonomous underwater vehicle design, such as: speed, energy economy, enhanced manoeuvrability, and reduced detectability. Given its scope, the book will be of interest to researchers, engineers and graduate students in robotics and ocean engineering who wish to learn about the core principles, methods, algorithms, and applications of biomimetic underwater robots. Contents 6 1 Introduction 10 1.1 Introduction 10 1.2 Hydrodynamic Modeling and Testing 12 1.2.1 Hydrodynamic Modeling 13 1.2.2 Hydrodynamic Experimental Techniques 14 1.3 Kinematic Modeling and Control 17 1.3.1 Kinematic Measurement of Fish Swimming 17 1.3.2 Motion Control 18 1.4 Learning Control and Motion Optimization 20 1.4.1 Learning Fishlike Swimming 20 1.4.2 Motion Optimization 22 1.5 Coordination 23 1.5.1 AFSA 24 1.5.2 Coordinated Control of Multiple Robotic Fish 25 1.6 Concluding Remarks 27 References 28 2 Bioinspired Fish Body Wave Model Considering Linear Density 34 2.1 Introduction 34 2.2 Problem Formulation 36 2.2.1 An Overview of Fish Body Wave 36 2.2.2 Necessary Conditions of Steady Swimming 37 2.3 Design of Body Wave Considering Linear Density 38 2.4 Design of Fish Morphology: Two Cases Studies 41 2.4.1 Design of Main Body 41 2.4.2 Formation of Caudal Fin and Its Counterpart 44 2.4.3 Formation of Pectoral Fin and Its Counterpart 45 2.4.4 Formation of Pelvic Fin and Its Counterpart 45 2.5 Simulation and Result Analysis 46 2.6 Discussion 51 2.7 Concluding Remarks 52 References 52 3 Implementing Flexible and Fast Turning Maneuvers of Multijoint Robotic Fish 55 3.1 Introduction 55 3.2 Analysis and Control of C-Start 57 3.2.1 Design of Stage 1 58 3.2.2 Design of Stage 2 61 3.2.3 Design of Stage 3 63 3.2.4 Closed-Loop Control of the Turning Angle 64 3.3 Experiments and Results 66 3.3.1 Experimental Setup 66 3.3.2 Experiments on the Blunt Fish 68 3.3.3 Experiments on the Slim Fish 71 3.4 Discussion 74 3.5 Concluding Remarks 75 References 76 4 CPG-Based Swimming Control 78 4.1 Introduction 78 4.2 Overview of Robotic Fish Prototype 80 4.2.1 Mechatronic Design 80 4.2.2 Swimming Gaits Design 82 4.2.3 Hardware and Software Design of the Controller 82 4.3 Design of a Two-Phase Control System 84 4.3.1 A Two-Phase CPG Control Architecture 84 4.3.2 CPG Model 85 4.3.3 Lower Reflex Model 86 4.3.4 Medium Sensory Feedback Model 88 4.3.5 High Hierarchical Feedback Control Model 90 4.4 FSM-Based Gait Transition 92 4.5 Swimming Performance Optimization 94 4.5.1 Swimming Performance Indicators 94 4.5.2 Performance Under Consistent Phase Differences 95 4.5.3 Performance Under Inconsistent Phase Differences 97 4.6 Test Results Analysis 98 4.7 Discussion 101 4.8 Conclusion and Remark 104 References 105 5 3D Maneuvering Control of a Robotic Fish 107 5.1 Introduction 107 5.2 Mechatronic Design of the Updated Robotic Fish 108 5.2.1 Head Design 109 5.2.2 Pectoral Fins 110 5.2.3 Multilink Propulsive Mechanism 111 5.3 Analysis and Control of 3D Maneuvers 112 5.3.1 CPG Network 112 5.3.2 Rotational Maneuvers 114 5.3.3 Translational Maneuvers 118 5.3.4 Head Motion Control 119 5.4 Experiments and Discussion 120 5.4.1 Testing of Rotational Maneuvers 120 5.4.2 Testing of Backward Swimming 122 5.5 Discussion 123 5.6 Concluding Remarks 125 References 126 6 Control of Yaw and Pitch Maneuvers of a Multilink Dolphin Robot 128 6.1 Introduction 128 6.2 Overview of the Dolphin Robot 130 6.3 Analysis and Control of Yaw Turn 132 6.3.1 Analysis of Yaw Turn 132 6.3.2 A Two-Segment Model for Yaw Turns 132 6.4 Analysis and Control of Pitch Turn 133 6.4.1 Analysis of Pitch Turn 133 6.4.2 Design of the Unbending Phase 134 6.4.3 Maintaining the Pitch Angle 137 6.5 Results and Discussions 139 6.5.1 Experimental Setup 139 6.5.2 Testing of Yaw Turns 140 6.5.3 Testing of Wide-Range Pitch Turns 141 6.6 Discussion 150 6.7 Concluding Remarks 152 References 152 7 Leaping Control of Self-propelled Robotic Dolphin 154 7.1 Introduction 154 7.2 Theoretical Analysis of Dolphin Leaping Motion 156 7.3 Motion Control of Leaping Robotic Dolphin 159 7.3.1 Prototype of Leaping Robotic Dolphin 160 7.3.2 AoA-Based Speed Control 163 7.3.3 Pitch Control 167 7.3.4 Roll Control 169 7.3.5 Yaw Control 169 7.3.6 Depth Control 170 7.4 Experiments and Results 170 7.4.1 Speed Tests 170 7.4.2 Leap Tests 172 7.5 Discussion 174 7.6 Concluding Remarks 175 References 176 8 Motion Control of Self-propelled Robotic Jellyfish 178 8.1 Introduction 178 8.2 Prototype of the Self-propelled Robotic Jellyfish 179 8.2.1 Mechanical Design 179 8.2.2 Analysis for Barycenter Adjustment Mechanism of the Robotic Jellyfish 183 8.2.3 Dynamic Analysis 186 8.3 Reinforcement Learning Based Attitude Control 189 8.3.1 A Brief Introduction of Reinforcement Learning 190 8.3.2 Attitude Control of the Robotic Jellyfish 191 8.4 Experiments and Results 196 8.5 Discussion 199 8.6 Concluding Remarks 200 References 201 9 Summary and Outlook 202 9.1 Technical Contributions 202 9.2 Future Studies 205 Index 207 Front Matter ....Pages i-viii Introduction (Junzhi Yu, Min Tan)....Pages 1-24 Bioinspired Fish Body Wave Model Considering Linear Density (Junzhi Yu, Min Tan)....Pages 25-45 Implementing Flexible and Fast Turning Maneuvers of Multijoint Robotic Fish (Junzhi Yu, Min Tan)....Pages 47-69 CPG-Based Swimming Control (Junzhi Yu, Min Tan)....Pages 71-99 3D Maneuvering Control of a Robotic Fish (Junzhi Yu, Min Tan)....Pages 101-121 Control of Yaw and Pitch Maneuvers of a Multilink Dolphin Robot (Junzhi Yu, Min Tan)....Pages 123-148 Leaping Control of Self-propelled Robotic Dolphin (Junzhi Yu, Min Tan)....Pages 149-172 Motion Control of Self-propelled Robotic Jellyfish (Junzhi Yu, Min Tan)....Pages 173-196 Summary and Outlook (Junzhi Yu, Min Tan)....Pages 197-201 Back Matter ....Pages 203-203