数据与计算发展前沿 ›› 2019, Vol. 1 ›› Issue (2): 53-61.doi: 10.11871/jfdc.issn.2096-742X.2019.02.005

所属专题: “人工智能”专刊

• 人工智能专刊 • 上一篇    下一篇

仿乌贼水下机器人设计与控制

张天栋1,2,王睿1,*(),王硕1,2,3   

  1. 1. 中国科学院自动化研究所,复杂系统管理与控制国家重点实验室,北京 100190
    2. 中国科学院大学,北京 100049
    3. 中国科学院脑科学与智能技术卓越创新中心,上海 200031
  • 收稿日期:2019-09-18 出版日期:2019-12-20 发布日期:2020-01-15
  • 通讯作者: 王睿 E-mail:rwang5212@ia.ac.cn
  • 作者简介:张天栋,1996年生,现为中国科学院自动化研究所博士研究生,主要研究方向为仿生水下机器人。
    本文中完成文章实验部分及论文撰写。
    Zhang Tiandong is currently pursuing the Ph.D. degree in control theory and control engineering at Institute of Automation, Chinese Academy of Sciences, Beijing. His current research interests include intelligent control, underwater robot, and biomimetic robot.
    He completed the experimental part and wrote the manuscript.
    E-mail: zhangtiandong2018@ia.ac.cn|王睿,1992年生,现为中国科学院自动化研究所助理研究员,主要研究方向为仿生水下机器人。
    本文中完成系统设计及控制算法设计。
    Wang Rui (Corresponding Author) is currently a Research Assistant with the State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences. His current research interests include intelligent control, underwater robot, and biomimetic robot.
    He completed the system design and control algorithm design.|王硕,1973年生,博士,现为中国科学院自动化研究所研究员,博士生导师,主要研究方向为仿生机器人、水下机器人、多机器人系统、机器人控制。
    本文中对文章整体框架进行总体指导。
    Wang Shuo is currently a Professor with the State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences. His current research interests include biomimetic robot, underwater robot, multirobot system, and robot control.
    He gave general guidance to the overall framework of the article.
    E-mail:shuo.wang@ia.ac.cn
  • 基金资助:
    国家自然科学基金项目(61773378);国家自然科学基金项目(U1713222);国家自然科学基金项目(61421004)

The Design and Control of Squid-Like Underwater Robot

Zhang Tiandong1,2,Wang Rui1,*(),Wang Shuo1,2,3   

  1. 1. The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
    2. University of Chinese Academy of Sciences, Beijing 100049, China
    3. Center for Excellence in Brain Science and Intelligence Technology, Chinese Academy of Sciences, Shanghai 200031, China
  • Received:2019-09-18 Online:2019-12-20 Published:2020-01-15
  • Contact: Wang Rui E-mail:rwang5212@ia.ac.cn

摘要:

【目的】本文研究一种新型仿乌贼水下机器人的系统设计,包括水下机器人机械结构设计和驱动系统设计。【方法】本文建立仿乌贼水下机器人动力学模型、双波动鳍运动学模型以及波动推进力/力矩―行波参数映射模型。【结果】研制了仿乌贼水下机器人样机,在室内水池和开放水域进行了不同模态运动实验,并进行了深度闭环控制实验。【结论】实验结果显示所构建的波动鳍推进仿乌贼水下机器人具有良好的运动能力。

关键词: 仿生, 仿乌贼水下机器人, 系统设计, 运动控制

Abstract:

[Objective] Different from traditional underwater vehicles, the squid-like underwater robot has the advantages of low noise and good maneuverability. In this paper, the system design of the squid-like underwater robot was studied, including the mechanical structure design and drive system design. [Methods] The dynamic model of the squid-like underwater robot, the kinematic model of the undulating fins and the mapping model from propulsive force/torque to traveling wave parameter were established. [Results] The prototype of the squid-like underwater robot was developed. Then, multiple motion patterns such as marching, receding, turning, submerging and surfacing were achieved and tested. Besides, depth control experiment was performed. [Conclusion] Experimental results show that the squid-like underwater robot propelled by undulatory fins has good mobility.

Key words: biomimetics, squid-like underwater robot, system design, motion control