Motion Control of Biomimetic Swimming Robots

Description

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. 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