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1.发明授权公开(公告)号：US10962976B1
公开(公告)日：2021-03-30
申请号：US17094820
申请日：2020-11-11
Inventor： Zhengxing Wu , Junzhi Yu , Shuaizheng Yan , Jian Wang , Min Tan
Abstract: A motion control method and system for a biomimetic robotic fish based on an adversarial structured control, includes: taking the accuracy and speed of motion to the target point as a reward term, and taking a power sum of servomotors as a loss term to construct an optimization objective function; optimizing parameters of a central pattern generator model that generates a global control quantity of a servomotor, after curing its parameters, optimizing the parameters of the servomotor compensation control model; iteratively optimizing the parameters of the model; obtaining the global control signal and compensation control signal of the biomimetic robotic fish through the trained model, and using the linear combination of the two sets of output signals as the control signal of the servomotor of the robotic fish to realize the motion control of the fish.
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公开(公告)号：US10935986B1
公开(公告)日：2021-03-02
申请号：US17069868
申请日：2020-10-14
Inventor： Junzhi Yu , Zhengxing Wu , Jian Wang , Shuaizheng Yan , Min Tan
Abstract: A gliding depth control method for a biomimetic gliding robotic dolphin includes: obtaining a preset gliding depth and a preset yaw angle; obtaining an estimated velocity by a sliding mode observer based on depth information and inertial navigation information, and obtaining a control quantity of pectoral fins on both sides of the biomimetic gliding robotic dolphin by a yaw controller in combination with the preset yaw angle; obtaining a segmented diving velocity reference trajectory by constructing and segmenting a Bézier curve; obtaining a diving control quantity by a model predictive control method in combination with the estimated velocity; obtaining a target position of a piston through a buoyancy principle, and obtaining a control quantity of the piston according to a current position of the piston; and controlling the biomimetic gliding robotic dolphin to glide based on the control quantity of the piston and the control quantity of the pectoral fins.
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公开(公告)号：US11161578B2
公开(公告)日：2021-11-02
申请号：US17278335
申请日：2020-04-16
Inventor： Zhengxing Wu , Junzhi Yu , Yan Meng , Xingyu Chen , Jian Wang , Min Tan
Abstract: A biomimetic robotic manta ray includes a head cabin, a central cabin, a pair of pectoral fins and a caudal fin cabin. The pectoral fin includes a crank-rocker mechanism and a bevel gear mechanism. The biomimetic robotic manta ray achieves undulatory propulsion through a coordinated periodic motion of the crank-rocker mechanism. A complex closed motion trail of the tail end of the pectoral fin of the manta ray is traced through the coordination of the bevel gear mechanism and the crank-rocker mechanism. The biomimetic robotic manta ray achieves a combined motion of two vertical undulations superimposed on the pectoral fin of a natural manta ray. The motion trail, which has an important effect on the efficient motion of the manta ray, of the tail end of the pectoral fin is approximately simulated.
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