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開本:16開 紙張:膠版紙 包裝:平裝-膠訂 是否套裝:否 國際標準書號ISBN:9787568053365 叢書名:智能制造與機器人理論及技術研究叢書 作者:喻俊志譚民 出版社:華中科技大學出版社 出版時間:2019年10月 
" 編輯推薦 本書列選中國政府“中國圖書對外推廣計劃”,內容全面、繫統、新穎、實用,不僅適用於普通高等院校信息科學、自動化、機電工程及相關專業的研究生、本科生及專科生的機器人學習課程,也可作為廣大致力於機器人研究的科研人員和技術工作者了解水下仿生機器人基礎知識及關鍵技術的參考資料和輔助讀物。 內容簡介 本書圍繞仿生機器魚的高機動運動,結合仿生技術和智能控制方法,對仿生機器魚的研制過程和機動控制進行了繫統闡述,主要包括六方面內容:仿生魚體波及魚體形態學設計、機器魚二維高機動精準控制、基於仿生CPG的機器魚運動控制、機器魚的三維機動轉向控制、機器海豚俯仰及滾翻控制、機器海豚躍水運動控制。本書的每一章對所用機器魚及機器海豚的平臺研制、算法實現及實驗驗證均進行了詳細介紹。各部分的內容既相互聯繫又相互獨立,讀者可根據自己的需要選擇學習。 作者簡介 Junzhi Yu received the B.E. degree in safety engineering and the M.E. degree in precision instruments and mechanology from the North University of China, Taiyuan, China, in 1998 and 2001, respectively, and the Ph.D. degree in control theory and control engineering from the Institute of Automation, Chinese Academy of Sciences, Beijing, China, in 2003. From 2004 to 2006, he was a Post-Doctoral Research Fellow with the Center for Systems and Control, Peking University, Beijing. He was an Associate Professor with the Institute of Automation, Chinese Academy of Sciences, in 2006, where he was a Full Professor in 2012. In 2018, he joined the College of Engineering, Peking University, as a Tenured Full Professor. His current research interests include intelligent robots, motion control, and intelligent mechatronic systems.
Junzhi Yu received the B.E. degree in safety engineering and the M.E. degree in precision instruments and mechanology from the North University of China, Taiyuan, China, in 1998 and 2001, respectively, and the Ph.D. degree in control theory and control engineering from the Institute of Automation, Chinese Academy of Sciences, Beijing, China, in 2003. From 2004 to 2006, he was a Post-Doctoral Research Fellow with the Center for Systems and Control, Peking University, Beijing. He was an Associate Professor with the Institute of Automation, Chinese Academy of Sciences, in 2006, where he was a Full Professor in 2012. In 2018, he joined the College of Engineering, Peking University, as a Tenured Full Professor. His current research interests include intelligent robots, motion control, and intelligent mechatronic systems.
Min Tan received the B.Sc. degree from Tsinghua University, Beijing, China, in 1986, and the Ph.D. degree from the Institute of Automation, Chinese Academy of Sciences (IACAS), Beijing, China, in 1990, both in control science and engineering. He is currently a Professor with the State Key Laboratory of Management and Control for Complex Systems, IACAS. He has published more than 200 papers in journals, books, and conference proceedings. His research interests include robotics and intelligent control systems. 目錄 1 Introduction ........................................... 1 1.1 Introduction ........................................ 1 1.2 Hydrodynamic Modeling and Testing ..................... 3 1.2.1 Hydrodynamic Modeling ......................... 4 1.2.2 Hydrodynamic Experimental Techniques.............. 5 1.3 Kinematic Modeling and Control ......................... 8 1.3.1 Kinematic Measurement of Fish Swimming ........... 8 1.3.2 Motion Control ................................ 9 1.4 Learning Control and Motion Optimization ................. 11 1.4.1 Learning Fishlike Swimming ...................... 11 1.4.2 Motion Optimization ............................ 13 1.5 Coordination ....................................... 14 1.5.1 AFSA ....................................... 15 1.5.2 Coordinated Control of Multiple Robotic Fish .......... 161 Introduction ........................................... 1 1.1 Introduction ........................................ 1 1.2 Hydrodynamic Modeling and Testing ..................... 3 1.2.1 Hydrodynamic Modeling ......................... 4 1.2.2 Hydrodynamic Experimental Techniques.............. 5 1.3 Kinematic Modeling and Control ......................... 8 1.3.1 Kinematic Measurement of Fish Swimming ........... 8 1.3.2 Motion Control ................................ 9 1.4 Learning Control and Motion Optimization ................. 11 1.4.1 Learning Fishlike Swimming ...................... 11 1.4.2 Motion Optimization ............................ 13 1.5 Coordination ....................................... 14 1.5.1 AFSA ....................................... 15 1.5.2 Coordinated Control of Multiple Robotic Fish .......... 16 1.6 Concluding Remarks.................................. 18 References ............................................. 19 2 Bioinspired Fish Body Wave Model Considering Linear Density ... 25 2.1 Introduction ........................................ 25 2.2 Problem Formulation ................................. 27 2.2.1 An Overview of Fish Body Wave ................... 27 2.2.2 Necessary Conditions of Steady Swimming ............ 28 2.3 Design of Body Wave Considering Linear Density ............ 29 2.4 Design of Fish Morphology: Two Cases Studies ............. 32 2.4.1 Design of Main Body ........................... 32 2.4.2 Formation of Caudal Fin and Its Counterpart........... 35 2.4.3 Formation of Pectoral Fin and Its Counterpart .......... 36 2.4.4 Formation of Pelvic Fin and Its Counterpart ........... 36 v 2.5 Simulation and Result Analysis .......................... 37 2.6 Discussion ......................................... 42 2.7 Concluding Remarks.................................. 43 References ............................................. 43 3 Implementing Flexible and Fast Turning Maneuvers of Multijoint Robotic Fish ................................. 47 3.1 Introduction ........................................ 47 3.2 Analysis and Control of C-Start.......................... 49 3.2.1 Design of Stage 1 .............................. 50 3.2.2 Design of Stage 2 .............................. 53 3.2.3 Design of Stage 3 .............................. 55 3.2.4 Closed-Loop Control of the Turning Angle ............ 56 3.3 Experiments and Results ............................... 58 3.3.1 Experimental Setup ............................. 58 3.3.2 Experiments on the Blunt Fish ..................... 60 3.3.3 Experiments on the Slim Fish ...................... 63 3.4 Discussion ......................................... 66 3.5 Concluding Remarks.................................. 67 References ............................................. 68 4 CPG-Based Swimming Control ............................. 71 4.1 Introduction ........................................ 71 4.2 Overview of Robotic Fish Prototype ...................... 73 4.2.1 Mechatronic Design ............................. 73 4.2.2 Swimming Gaits Design.......................... 75 4.2.3 Hardware and Software Design of the Controller ........ 75 4.3 Design of a Two-Phase Control System .................... 77 4.3.1 A Two-Phase CPG Control Architecture .............. 77 4.3.2 CPG Model ................................... 78 4.3.3 Lower Reflex Model ............................ 79 4.3.4 Medium Sensory Feedback Model .................. 81 4.3.5 High Hierarchical Feedback Control Model ............ 83 4.4 FSM-Based Gait Transition ............................. 85 4.5 Swimming Performance Optimization ..................... 87 4.5.1 Swimming Performance Indicators .................. 87 4.5.2 Performance Under Consistent Phase Differences........ 88 4.5.3 Performance Under Inconsistent Phase Differences ...... 90 4.6 Test Results Analysis ................................. 91 4.7 Discussion ......................................... 94 4.8 Conclusion and Remark ............................... 97 References ............................................. 98 vi Contents 5 3D Maneuvering Control of a Robotic Fish ................... 101 5.1 Introduction ........................................ 101 5.2 Mechatronic Design of the Updated Robotic Fish ............. 102 5.2.1 Head Design .................................. 103 5.2.2 Pectoral Fins .................................. 104 5.2.3 Multilink Propulsive Mechanism ................... 105 5.3 Analysis and Control of 3D Maneuvers .................... 106 5.3.1 CPG Network ................................. 106 5.3.2 Rotational Maneuvers ........................... 108 5.3.3 Translational Maneuvers ......................... 112 5.3.4 Head Motion Control ............................ 113 5.4 Experiments and Discussion ............................ 114 5.4.1 Testing of Rotational Maneuvers ................... 114 5.4.2 Testing of Backward Swimming .................... 116 5.5 Discussion ......................................... 117 5.6 Concluding Remarks.................................. 119 References ............................................. 120 6 Control of Yaw and Pitch Maneuvers of a Multilink Dolphin Robot ................................................ 123 6.1 Introduction ........................................ 123 6.2 Overview of the Dolphin Robot ......................... 125 6.3 Analysis and Control of Yaw Turn ....................... 127 6.3.1 Analysis of Yaw Turn ........................... 127 6.3.2 A Two-Segment Model for Yaw Turns ............... 127 6.4 Analysis and Control of Pitch Turn ....................... 128 6.4.1 Analysis of Pitch Turn ........................... 128 6.4.2 Design of the Unbending Phase .................... 129 6.4.3 Maintaining the Pitch Angle ....................... 132 6.5 Results and Discussions ............................... 134 6.5.1 Experimental Setup ............................. 134 6.5.2 Testing of Yaw Turns ........................... 135 6.5.3 Testing of Wide-Range Pitch Turns ................. 136 6.6 Discussion ......................................... 145 6.7 Concluding Remarks.................................. 147 References ............................................. 147 7 Leaping Control of Self-propelled Robotic Dolphin ............. 149 7.1 Introduction ........................................ 149 7.2 Theoretical Analysis of Dolphin Leaping Motion ............. 151 7.3 Motion Control of Leaping Robotic Dolphin ................ 154 7.3.1 Prototype of Leaping Robotic Dolphin ............... 155 7.3.2 AoA-Based Speed Control ........................ 158 7.3.3 Pitch Control .................................. 162 Contents vii 7.3.4 Roll Control .................................. 164 7.3.5 Yaw Control .................................. 164 7.3.6 Depth Control ................................. 165 7.4 Experiments and Results ............................... 165 7.4.1 Speed Tests ................................... 165 7.4.2 Leap Tests ................................... 167 7.5 Discussion ......................................... 169 7.6 Concluding Remarks.................................. 170 References ............................................. 171 8 Motion Control of Self-propelled Robotic Jellyfish .............. 173 8.1 Introduction ........................................ 173 8.2 Prototype of the Self-propelled Robotic Jellyfish ............. 174 8.2.1 Mechanical Design ............................. 174 8.2.2 Analysis for Barycenter Adjustment Mechanism of the Robotic Jellyfish .......................... 178 8.2.3 Dynamic Analysis .............................. 181 8.3 Reinforcement Learning Based Attitude Control .............. 184 8.3.1 A Brief Introduction of Reinforcement Learning ........ 185 8.3.2 Attitude Control of the Robotic Jellyfish .............. 186 8.4 Experiments and Results ............................... 191 8.5 Discussion ......................................... 194 8.6 Concluding Remarks.................................. 195 References ............................................. 196 9 Summary and Outlook ................................... 197 9.1 Technical Contributions ............................... 197 9.2 Future Studies ...................................... 200 Index ...................................................... 203 | | |