摘要
介绍了仿生机器鱼具有效率高、机动性好、噪音低、对环境扰动小的特点和几种分类方法,以及国内外在鱼类推进机理和仿生机器鱼研制方面的成果和现状,在此基础上分析了机器鱼研究的主要内容:鱼类推进理论模型、仿生机器鱼机械结构、仿生机器鱼游动的推进速度、运动方程、Q效率、Q功率等方面的客观规律,特别是其控制性能和相关技术问题。
Some classifying methods, the characteristics and the current situation of both propulsive mechanism and development at home and abroad towards robot fish were presented. The design of underwater vehicle was characterized by highspeed, high-efficiency, good-maneuverability, low-noise and easy-hide. Based on the former, the research involved rules of the following: propulsive mechanism of fish, mechanic structure of biomimetic robot fish, propulsive speed of robot fish, function of robot fish movement, Q efficiency, Q power, etc. The control performance and technical problems of this study were discussed as well.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2003年第4期485-491,共7页
Control Theory & Applications
基金
国家863计划机器人技术主题(2001AA422370)资助项目
关键词
机器人
仿生机器鱼
推进机理
机械结构
biomimetic robot fish
propulsive mechanism
current situation
control performance
