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This paper presents the construction and control of a turtle-like underwater vehicle, which uses four single axis oscillation flippers for swimming and attitude control. The maneuvers are realized by the composition of appropriate angular offset, vibration amplitude and vibration frequency of the flippers. After analyzing the actuated flippers' motion and the swimming gait, a CPG-based (central pattern...
This paper addresses a problem of locomotion control of a snake-like robot. The discontinuity of the input signal during transition of locomotion is not desirable which may cause a large sliding and slippage. To overcome this problem, a method that produce a smooth transition of the body shape of a snake-like robot is introduced by adopting CPG-based control. Body shape transition is important for...
This paper focuses on a further exploration of multimodal locomotion governed by bio-inspired central pattern generators (CPGs). To pursue a better swimming performance, an updated robotic fish is constructed. Besides the improved hardware devices involving higher torque servomotors and powerful processors, some innovative mechanical designs are taken into consideration. Specifically, a well-streamlined...
Cow-nosed rays can perform diversified swimming modes including linear cruise, pitching, yawing, and gliding. This paper focuses on the realization of these swimming modes. Furthermore, the role of tail fins are taken into account. The phase oscillators with controlled amplitudes have been adopted to build a new central pattern generator (CPG) network that includes six pectoral fin ray oscillators...
Locomotion on rough terrain is a critical and basic capability for quadruped robots. In this paper, we present a gait planning approach of crossing planar obstacles for a quadruped robot. The system is composed by rhythmic motion generation and gait planning algorithm. Rhythmic motion generation is mainly composed of two parts: the Central Pattern Generator (CPG) model based on the Holf oscillator...
Biomimetic robots such as biped, quadruped, hexapod and fish robots become the research hot of robotics in recent decades. Hexapod robots can adapt to the rugged ground and complex environment, which are usually difficult for wheeled and tracked robots. Controlling the locomotion of biomimetic robots by central pattern generators (CPGs) is a new method developed recently. In this paper, we apply the...
In the process of oscillation, longitudinal disturbance is produced when pectoral fins of robotic fish produce propulsion. The disturbance leads to pitching motion of the body of robotic fish, increasing the swimming resistance and reducing the efficiency of swimming. Pitching stability model of robotic fish propelled by oscillating flexible pectoral fins is established based on the third generation...
Various designs of piezo-assisted Intracytoplasmic sperm injection (ICSI) has been developed, which achieved higher success rate than conventional ICSI. A common issue is that lateral oscillation of the injection pipette tip is always excited by the intended axial actuation. Researchers hold different opinions on which oscillation, axial or lateral, has more dominate effects on the piercing process...
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