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Optimal control of a mackerel-mimicking robot for energy efficient trajectory tracking
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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Lee, Seunghee | - |
| dc.contributor.author | Park, Jounghyun | - |
| dc.contributor.author | Han, Cheolheui | - |
| dc.date.accessioned | 2022-12-21T05:14:12Z | - |
| dc.date.available | 2022-12-21T05:14:12Z | - |
| dc.date.issued | 2007-12 | - |
| dc.identifier.issn | 1672-6529 | - |
| dc.identifier.issn | 2543-2141 | - |
| dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/179267 | - |
| dc.description.abstract | A robotic fish, BASEMACK1, is designed and fabricated by mimicking the shape of a live mackerel. Three DC servo-motors are serially linked together and actuated to mimic the mackerel's Carangiform, motion. Hydrodynamic characteristics of a fish-mimetic test model are experimentally identified and utilized in order to numerically simulate fish swimming. The discrete set of kinematic and dynamic parameters are obtained by considering required horizontal and lateral forces and minimum energy consumption. Using the optimized parameter set, optimal control of the robot is studied. | - |
| dc.format.extent | 7 | - |
| dc.language | 영어 | - |
| dc.language.iso | ENG | - |
| dc.publisher | Elsevier BV | - |
| dc.title | Optimal control of a mackerel-mimicking robot for energy efficient trajectory tracking | - |
| dc.type | Article | - |
| dc.publisher.location | 싱가폴 | - |
| dc.identifier.doi | 10.1016/S1672-6529(07)60034-1 | - |
| dc.identifier.scopusid | 2-s2.0-37349010625 | - |
| dc.identifier.wosid | 000257390000005 | - |
| dc.identifier.bibliographicCitation | Journal of Bionic Engineering, v.4, no.4, pp 209 - 215 | - |
| dc.citation.title | Journal of Bionic Engineering | - |
| dc.citation.volume | 4 | - |
| dc.citation.number | 4 | - |
| dc.citation.startPage | 209 | - |
| dc.citation.endPage | 215 | - |
| dc.type.docType | Article; Proceedings Paper | - |
| dc.description.isOpenAccess | N | - |
| dc.description.journalRegisteredClass | scie | - |
| dc.description.journalRegisteredClass | scopus | - |
| dc.relation.journalResearchArea | Engineering | - |
| dc.relation.journalResearchArea | Materials Science | - |
| dc.relation.journalResearchArea | Robotics | - |
| dc.relation.journalWebOfScienceCategory | Engineering, Multidisciplinary | - |
| dc.relation.journalWebOfScienceCategory | Materials Science, Biomaterials | - |
| dc.relation.journalWebOfScienceCategory | Robotics | - |
| dc.subject.keywordAuthor | mackerel-mimicking robot | - |
| dc.subject.keywordAuthor | optimal control | - |
| dc.subject.keywordAuthor | trajectory tracking | - |
| dc.identifier.url | https://link.springer.com/article/10.1016/S1672-6529(07)60034-1 | - |
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