| Lu Zhenli (卢振利)*,Ma Zhipeng**,Marko Pencˇic＇***,Maja Cavic***,Borovac Branislav***,Roumiana Ilieva****,Bojan Nemec*****,Marjan Mernik******.[J].高技术通讯(英文),2021,27(4):415~421 |
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| Study on spiral winding swimming motion control of a slender legless creature model |
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| DOI：10.3772/j.issn.1006-6748.2021.04.010 |
| 中文关键词: |
| 英文关键词: V-REP, spiral winding swimming (SWS), motion control, slender legless creature (SLC) |
| 基金项目: |
| Author Name | Affiliation | | Lu Zhenli (卢振利)* | (*School of Electrical Engineering and Automation, Changshu Institute of Technology, Changshu 215500, P.R.China)
(**School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, P.R.China)
(***Faculty of Technical Sciences, University of Novi Sad, Novi Sad 621000, Serbia)
(****Faculty of Management, Technical University of Sofia, Sofia 1000, Bulgaria)
(*****Department of Automatics, Biocybernetics and Robotics, Joef Stefan Institute, Ljubljana 1000, Slovenia)
(******Faculty of Electrical Engineering and Computer Science, University of Maribor, Maribor 462000, Slovenia) | | Ma Zhipeng** | (*School of Electrical Engineering and Automation, Changshu Institute of Technology, Changshu 215500, P.R.China)
(**School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, P.R.China)
(***Faculty of Technical Sciences, University of Novi Sad, Novi Sad 621000, Serbia)
(****Faculty of Management, Technical University of Sofia, Sofia 1000, Bulgaria)
(*****Department of Automatics, Biocybernetics and Robotics, Joef Stefan Institute, Ljubljana 1000, Slovenia)
(******Faculty of Electrical Engineering and Computer Science, University of Maribor, Maribor 462000, Slovenia) | | Marko Pencˇic＇*** | (*School of Electrical Engineering and Automation, Changshu Institute of Technology, Changshu 215500, P.R.China)
(**School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, P.R.China)
(***Faculty of Technical Sciences, University of Novi Sad, Novi Sad 621000, Serbia)
(****Faculty of Management, Technical University of Sofia, Sofia 1000, Bulgaria)
(*****Department of Automatics, Biocybernetics and Robotics, Joef Stefan Institute, Ljubljana 1000, Slovenia)
(******Faculty of Electrical Engineering and Computer Science, University of Maribor, Maribor 462000, Slovenia) | | Maja Cavic*** | (*School of Electrical Engineering and Automation, Changshu Institute of Technology, Changshu 215500, P.R.China)
(**School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, P.R.China)
(***Faculty of Technical Sciences, University of Novi Sad, Novi Sad 621000, Serbia)
(****Faculty of Management, Technical University of Sofia, Sofia 1000, Bulgaria)
(*****Department of Automatics, Biocybernetics and Robotics, Joef Stefan Institute, Ljubljana 1000, Slovenia)
(******Faculty of Electrical Engineering and Computer Science, University of Maribor, Maribor 462000, Slovenia) | | Borovac Branislav*** | (*School of Electrical Engineering and Automation, Changshu Institute of Technology, Changshu 215500, P.R.China)
(**School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, P.R.China)
(***Faculty of Technical Sciences, University of Novi Sad, Novi Sad 621000, Serbia)
(****Faculty of Management, Technical University of Sofia, Sofia 1000, Bulgaria)
(*****Department of Automatics, Biocybernetics and Robotics, Joef Stefan Institute, Ljubljana 1000, Slovenia)
(******Faculty of Electrical Engineering and Computer Science, University of Maribor, Maribor 462000, Slovenia) | | Roumiana Ilieva**** | (*School of Electrical Engineering and Automation, Changshu Institute of Technology, Changshu 215500, P.R.China)
(**School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, P.R.China)
(***Faculty of Technical Sciences, University of Novi Sad, Novi Sad 621000, Serbia)
(****Faculty of Management, Technical University of Sofia, Sofia 1000, Bulgaria)
(*****Department of Automatics, Biocybernetics and Robotics, Joef Stefan Institute, Ljubljana 1000, Slovenia)
(******Faculty of Electrical Engineering and Computer Science, University of Maribor, Maribor 462000, Slovenia) | | Bojan Nemec***** | (*School of Electrical Engineering and Automation, Changshu Institute of Technology, Changshu 215500, P.R.China)
(**School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, P.R.China)
(***Faculty of Technical Sciences, University of Novi Sad, Novi Sad 621000, Serbia)
(****Faculty of Management, Technical University of Sofia, Sofia 1000, Bulgaria)
(*****Department of Automatics, Biocybernetics and Robotics, Joef Stefan Institute, Ljubljana 1000, Slovenia)
(******Faculty of Electrical Engineering and Computer Science, University of Maribor, Maribor 462000, Slovenia) | | Marjan Mernik****** | (*School of Electrical Engineering and Automation, Changshu Institute of Technology, Changshu 215500, P.R.China)
(**School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, P.R.China)
(***Faculty of Technical Sciences, University of Novi Sad, Novi Sad 621000, Serbia)
(****Faculty of Management, Technical University of Sofia, Sofia 1000, Bulgaria)
(*****Department of Automatics, Biocybernetics and Robotics, Joef Stefan Institute, Ljubljana 1000, Slovenia)
(******Faculty of Electrical Engineering and Computer Science, University of Maribor, Maribor 462000, Slovenia) |
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| 中文摘要: |
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| 英文摘要: |
| Through the observation and analysis of the motion trajectory of spiral winding motion for slender legless biological creatures in water, V-REP software is adopted to build a dynamic simulator to study on the mechanism of spiral winding swimming (SWS) motion. By using the output of spiral function（SF）, the dynamic simulation model of slender legless creature (SLC) realizes the SWS motion in water. The corresponding experiments under the control of different bending angle of SF to control the dynamic model are also carried out to analyze the water performance of SWS in still water. Combined with the output of two different bending angles of the spiral function, the dynamic model can be used to realize SWS and up/down motion. This work provides technical reserve and experimental platform for the corresponding study in related fields. |
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