仿生机器鱼研究的进展与分析  

RESEARCH DEVELOPMENT AND ANALYSIS OF BIOMIMETIC ROBOTIC FISH

作　　者：魏清平[1] 王硕[1] 谭民[1] 王宇[1] 

机构地区：[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

出　　处：《系统科学与数学》2012年第10期1274-1286,共13页Journal of Systems Science and Mathematical Sciences

基　　金：国家自然科学基金(51175496);863计划(2011AA041001)资助课题

摘　　要：仿生机器鱼,作为一种高效、高机动的水下机器人,得到研究人员的广泛关注.介绍了国内外在仿生机器鱼推进机理和系统研制方面的主要研究进展.通过分析,归纳总结了仿生机器鱼研究的主要问题,并重点讨论了推进机理、机构优化和运动控制的研究思路.Biomimetic robotic fish,as one kind of highly efficient and highly maneuverable underwater robots,achieved the widespread concern of researchers.In this paper,the major research developments in propulsion mechanism and system development of biomimetic robotic fish were presented.Through the analysis,the main issues of biomimetic robotic fish were summarized and the research ideas of propulsion mechanism,mechanism optimization and motion control were also emphatically discussed.

关 键 词：仿生机器鱼 推进机理 机构设计与优化 运动控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]