多關節機器魚之運動姿態實現

Fish Swimming Motions Mimicked in a Multi-Jointed Robotic Fish

洪子傑(Tzu-Chieh Hung)

指導教授 ： 姚立德

國立臺北科技大學/電資學院/電機工程系研究所/碩士(2013年)

摘要

本論文提出一種方法用來實現鰺行式(carangiform)機器魚在水中的游泳姿態控制，實驗平台為一個多關節的仿生機械結構，其胸鰭具有一個自由度，而魚身包含尾鰭共具有三個自由度。首先將一個流體動力學上已知的魚類行進波方程式，利用近似演算法轉換成適用於控制機器魚關節的直線行進姿態方程式；接著利用一個推測的魚類轉向方程式，使用類似之近似演算法轉換成適用於機器魚的C形轉向姿態方程式；最後，基於前述這兩種基本游泳姿態的研究與實現，加上對於魚類游泳行為的觀察經驗，進而提出一種可搭配不同轉向程度的混合式行進姿態控制方法。經由實驗結果顯示，本方法確實可以有效地控制機器魚做出前進、轉向以及帶有轉向效果的前進動作。

關鍵字

機器魚 ； 仿生魚 ； 運動姿態

並列摘要

This thesis presents a different approach to realizing carangiform fish swimming motion by a robotic fish. This multi-jointed biomimetic fish model incorporates two pectoral fins with 1 DOF (degree of freedom) and a body with 3 DOFs. Firstly, using an approximation algorithm, the hydrodynamic travelling function of real fish was converted to a cruising motion in the robotic fish. Secondly, the conjectural C-shaped turning function of real fish was used to approximate a turning motion of the robotic fish. Finally based on the research and implementation of two prior basic swimming motions, and observations of real fish swimming, the thesis presents a hybrid control method of swimming motion, which allows for cruising motion with some turning ability. The experimental results show that the method can control the robotic fish cruising, turning, and turning while cruising.

並列關鍵字

robotic fish ； biomimetic fish ； swimming motion

參考文獻

[45] 李孟學，具避障與互動功能之多自由度機器魚，碩士論文，國立暨南國際大學電機工程學系研究所，南投，2010。

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