Motion Control of Biomimetic Swimming Robots（高机动仿生机器鱼设计与控制技术）

1Introduction

• 第一节 Introduction
• 第二节 Hydrodynamic Modeling and Testing
• 第三节 Kinematic Modeling and Control
• 第四节 Learning Control and Motion Optimization
• 第五节 Coordination
• 第六节 Concluding Remarks

2Bioinspired Fish Body Wave Model Considering Linear Density

• 第一节 Introduction
• 第二节 Problem Formulation
• 第三节 Design of Body Wave Considering Linear Density
• 第四节 Design of Fish Morphology: Two Cases Studies
• 第五节 Simulation and Result Analysis
• 第六节 Discussion
• 第七节 Concluding Remarks

3Implementing Flexible and Fast Turning Maneuvers of Multijoint Robotic Fish

• 第一节 Introduction
• 第二节 Analysis and Control of C-Start
• 第三节 Experiments and Results
• 第四节 Discussion
• 第五节 Concluding Remarks

4CPG-Based Swimming Control

• 第一节 Introduction
• 第二节 Overview of Robotic Fish Prototype
• 第三节 Design of a Two-Phase Control System
• 第四节 FSM-Based Gait Transition
• 第五节 Swimming Performance Optimization
• 第六节 Test Results Analysis
• 第七节 Discussion
• 第八节 Conclusion and Remark

53D Maneuvering Control of a Robotic Fish

• 第一节 Introduction
• 第二节 Mechatronic Design of the Updated Robotic Fish
• 第三节 Analysis and Control of 3D Maneuvers
• 第四节 Experiments and Discussion
• 第五节 Discussion
• 第六节 Concluding Remarks

6Control of Yaw and Pitch Maneuvers of a Multilink Dolphin Robot

• 第一节 Introduction
• 第二节 Overview of the Dolphin Robot
• 第三节 Analysis and Control of Yaw Turn
• 第四节 Analysis and Control of Pitch Turn
• 第五节 Results and Discussions
• 第六节 Discussion
• 第七节 Concluding Remarks

7Leaping Control of Self-propelled Robotic Dolphin

• 第一节 Introduction
• 第二节 Theoretical Analysis of Dolphin Leaping Motion
• 第三节 Motion Control of Leaping Robotic Dolphin
• 第四节 Experiments and Results
• 第五节 Discussion
• 第六节 Concluding Remarks

8Motion Control of Self-propelled Robotic Jellyfish

• 第一节 Introduction
• 第二节 Prototype of the Self-propelled Robotic Jellyfish
• 第三节 Reinforcement Learning Based Attitude Control
• 第四节 Experiments and Results
• 第五节 Discussion
• 第六节 Concluding Remarks

9Summary and Outlook

• 第一节 Technical Contributions
• 第二节 Future Studies