Control method and device for robot fish, equipment and storage medium

A control method and technology for robotic fish, which can be applied to controllers with specific characteristics, electric controllers, etc., can solve problems such as restricting the development of robotic fish's long-term operation ability, and achieve the effect of improving propulsion efficiency.

Inactive Publication Date: 2019-09-20
BEIHANG UNIV
View PDF9 Cites 6 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the limited power reserve and payload capacity limit the long-time working ability of robotic fish and the development of related technologies. How to effectively impr

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Control method and device for robot fish, equipment and storage medium
  • Control method and device for robot fish, equipment and storage medium
  • Control method and device for robot fish, equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0064] The specific embodiments of the present application will be described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present application is not limited by the specific embodiments.

[0065] Unless expressly stated otherwise, throughout the specification and claims, the term "comprise" or variations thereof such as "includes" or "includes" and the like will be understood to include the stated elements or constituents, and not Other elements or other components are not excluded.

[0066] At present, most of the research on robot fish is still in the imitation design of shape and action by observing the swimming situation of real fish. Physiological structure, specific swimming principle, etc. have been researched and explored. The robot fish obtained by imitating the design has not achieved the same effect as the expected swimming of real fish. There are still shortcomings and deficiencies such a...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The application discloses a control method and device for a robot fish, equipment and a storage medium. A difference between a current first angle of a robot fish joint and a preset second angle is obtained; according to a negative work power currently outputted by a joint motor and a current first angle of the robot fish joint, a current optimal joint stiffness value of the robot fish joint is obtained from a pre-established Q table and is used as a proportion coefficient of a PID controller; PID controlling is performed on the difference to obtain a current optimal torque; the robot fish joint is driven by controlling the joint motor, so that the torque of the robot fish joint becomes the current optimal torque; and then the step of acquiring a difference is performed again. The Q table is established based on a reinforcing learning algorithm. Therefore, the propulsive efficiency of the robot fish is improved.

Description

technical field [0001] The present application relates to the field of robotic fish, in particular to a method, device, equipment and storage medium for controlling robotic fish. Background technique [0002] In nature, fish obtain fast and efficient swimming performance and high mobility through the swing of the body and / or tail fin. These unique swimming performances have attracted more and more scientific researchers. In recent years, researchers have gradually revealed the mechanism of high-efficiency swimming of fish from aspects such as hydrodynamics. However, bionic robot fish based on biological prototypes are far behind those in nature in terms of swimming speed, propulsion efficiency, and turning maneuverability. of fish. [0003] At present, because the energy and power mechanism account for a large proportion of the limited payload of robotic fish, the development of robotic fish is greatly restricted. Relevant scientists can only study how to change different ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 徐东范宏杰田国栋张秀磊
Owner BEIHANG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap