Design and Control of Bionic Manta Ray Robot with Flexible Pectoral Fin

Yixin Zhang; Shaoping Wang; Xingjian Wang; Yixuan Geng

doi:10.1109/ICCA.2018.8444283

Design and Control of Bionic Manta Ray Robot with Flexible Pectoral Fin

Yixin Zhang
, Shaoping Wang
, Xingjian Wang
, Yixuan Geng

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

34 Scopus citations

Abstract

Manta rays can achieve flexible movements underwater with high propulsive efficiency. Bionic manta ray robot has always been a hotspot in bio-robot research. In this paper, a novel bionic Manta Ray robot is proposed based on the synthetically biological observation of manta ray. Firstly, flexible mechanism and rigid support are integrated in the mechanical structure design of this robot and real flexible deformation of the pectoral fins can be well simulated. Secondly, central pattern generator (CPG) control approach is used to achieve the rhythmic biomimetic movement. Experiments with a demo prototype are conducted to validate the effectiveness and efficiency of proposed approaches.

Original language	English
Title of host publication	2018 IEEE 14th International Conference on Control and Automation, ICCA 2018
Publisher	IEEE Computer Society
Pages	1034-1039
Number of pages	6
ISBN (Print)	9781538660898
DOIs	https://doi.org/10.1109/ICCA.2018.8444283
State	Published - 21 Aug 2018
Event	14th IEEE International Conference on Control and Automation, ICCA 2018 - Anchorage, United States Duration: 12 Jun 2018 → 15 Jun 2018

Publication series

Name	IEEE International Conference on Control and Automation, ICCA
Volume	2018-June
ISSN (Print)	1948-3449
ISSN (Electronic)	1948-3457

Conference

Conference	14th IEEE International Conference on Control and Automation, ICCA 2018
Country/Territory	United States
City	Anchorage
Period	12/06/18 → 15/06/18

Access to Document

10.1109/ICCA.2018.8444283

Cite this

Zhang, Y., Wang, S., Wang, X., & Geng, Y. (2018). Design and Control of Bionic Manta Ray Robot with Flexible Pectoral Fin. In 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018 (pp. 1034-1039). Article 8444283 (IEEE International Conference on Control and Automation, ICCA; Vol. 2018-June). IEEE Computer Society. https://doi.org/10.1109/ICCA.2018.8444283

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title = "Design and Control of Bionic Manta Ray Robot with Flexible Pectoral Fin",

abstract = "Manta rays can achieve flexible movements underwater with high propulsive efficiency. Bionic manta ray robot has always been a hotspot in bio-robot research. In this paper, a novel bionic Manta Ray robot is proposed based on the synthetically biological observation of manta ray. Firstly, flexible mechanism and rigid support are integrated in the mechanical structure design of this robot and real flexible deformation of the pectoral fins can be well simulated. Secondly, central pattern generator (CPG) control approach is used to achieve the rhythmic biomimetic movement. Experiments with a demo prototype are conducted to validate the effectiveness and efficiency of proposed approaches.",

author = "Yixin Zhang and Shaoping Wang and Xingjian Wang and Yixuan Geng",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 14th IEEE International Conference on Control and Automation, ICCA 2018 ; Conference date: 12-06-2018 Through 15-06-2018",

year = "2018",

month = aug,

day = "21",

doi = "10.1109/ICCA.2018.8444283",

language = "英语",

isbn = "9781538660898",

series = "IEEE International Conference on Control and Automation, ICCA",

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Zhang, Y, Wang, S , Wang, X & Geng, Y 2018, Design and Control of Bionic Manta Ray Robot with Flexible Pectoral Fin. in 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018., 8444283, IEEE International Conference on Control and Automation, ICCA, vol. 2018-June, IEEE Computer Society, pp. 1034-1039, 14th IEEE International Conference on Control and Automation, ICCA 2018, Anchorage, United States, 12/06/18. https://doi.org/10.1109/ICCA.2018.8444283

Design and Control of Bionic Manta Ray Robot with Flexible Pectoral Fin. / Zhang, Yixin; Wang, Shaoping ; Wang, Xingjian et al.
2018 IEEE 14th International Conference on Control and Automation, ICCA 2018. IEEE Computer Society, 2018. p. 1034-1039 8444283 (IEEE International Conference on Control and Automation, ICCA; Vol. 2018-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Zhang, Yixin

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AU - Geng, Yixuan

PY - 2018/8/21

Y1 - 2018/8/21

N2 - Manta rays can achieve flexible movements underwater with high propulsive efficiency. Bionic manta ray robot has always been a hotspot in bio-robot research. In this paper, a novel bionic Manta Ray robot is proposed based on the synthetically biological observation of manta ray. Firstly, flexible mechanism and rigid support are integrated in the mechanical structure design of this robot and real flexible deformation of the pectoral fins can be well simulated. Secondly, central pattern generator (CPG) control approach is used to achieve the rhythmic biomimetic movement. Experiments with a demo prototype are conducted to validate the effectiveness and efficiency of proposed approaches.

AB - Manta rays can achieve flexible movements underwater with high propulsive efficiency. Bionic manta ray robot has always been a hotspot in bio-robot research. In this paper, a novel bionic Manta Ray robot is proposed based on the synthetically biological observation of manta ray. Firstly, flexible mechanism and rigid support are integrated in the mechanical structure design of this robot and real flexible deformation of the pectoral fins can be well simulated. Secondly, central pattern generator (CPG) control approach is used to achieve the rhythmic biomimetic movement. Experiments with a demo prototype are conducted to validate the effectiveness and efficiency of proposed approaches.

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DO - 10.1109/ICCA.2018.8444283

M3 - 会议稿件

AN - SCOPUS:85053144967

SN - 9781538660898

T3 - IEEE International Conference on Control and Automation, ICCA

SP - 1034

EP - 1039

BT - 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018

PB - IEEE Computer Society

T2 - 14th IEEE International Conference on Control and Automation, ICCA 2018

Y2 - 12 June 2018 through 15 June 2018

ER -

Design and Control of Bionic Manta Ray Robot with Flexible Pectoral Fin

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