1 Introduction
1.1 Introduction
1.2 Hydrodynamic Modeling and Testing
1.2.1 Hydrodynamic Modeling
1.2.2 Hydrodynamic Experimental Techniques
1.3 Kinematic Modeling and Control
1.3.1 Kinematic Measurement of Fish Swimming
1.3.2 Motion Control
1.4 Learning Control and Motion Optimization
1.4.1 Learning Fishlike Swimming
1.4.2 Motion Optimization
1.5 Coordination
1.5.1 AFSA
1.5.2 Coordinated Control of Multiple Robotic Fish
1.6 Concluding Remarks
References
2 Bioinspired Fish Body Wave Model Considering Linear Density
2.1 Introduction
2.2 Problem Formulation
2.2.1 An Overview of Fish Body Wave
2.2.2 Necessary Conditions of Steady Swimming
2.3 Design of Body Wave Considering Linear Density
2.4 Design of Fish Morphology: Two Cases Studies
2.4.1 Design of Main Body
2.4.2 Formation of Caudal Fin and Its Counterpart
2.4.3 Formation of Pectoral Fin and Its Counterpart
2.4.4 Formation of Pelvic Fin and Its Counterpart
2.5 Simulation and Result Analysis
2.6 Discussion
2.7 Concluding Remarks
References
3 Implementing Flexible and Fast Turning Maneuvers of Multijoint Robotic Fish
3.1 Introduction
3.2 Analysis and Control of C-Start
3.2.1 Design of Stage 1
3.2.2 Design of Stage 2
3.2.3 Design of Stage 3
3.2.4 Closed-Loop Control of the Turning Angle
3.3 Experiments and Results
3.3.1 Experimental Setup
3.3.2 Experiments on the Blunt Fish
3.3.3 Experiments on the Slim Fish
3.4 Discussion
3.5 Concluding Remarks
References
4 CPG-Based Swimming Control
4.1 Introduction
4.2 Overview of Robotic Fish Prototype
4.2.1 Mechatronic Design
4.2.2 Swimming Gaits Design
4.2.3 Hardware and Software Design of the Controller..
4.3 Design of a Two-Phase Control System
4.3.1 A Two-Phase CPG Control Architecture
4.3.2 CPG Model
4.3.3 Lower Reflex Model
4.3.4 Medium Sensory Feedback Model
4.3.5 High Hierarchical Feedback Control Model
4.4 FSM-Based Gait Transition
4.5 Swimming Performance Optimization
4.5.1 Swimming Performance Indicators
4.5.2 Performance Under Consistent Phase Differences..
4.5.3 Performance Under Inconsistent Phase Differences
4.6 Test Results Analysis
4.7 Discussion
4.8 Conclusion and Remark
References
3D Maneuvering Control of a Robotic Fish
5.1 Introduction
5.2 Mechatronic Design of the Updated Robotic Fish
5.2.1 Head Design
5.2.2 Pectoral Fins
5.2.3 Multilink Propulsive Mechanism
5.3 Analysis and Control of 3D Maneuvers
5.3.1 CPG Network
5.3.2 Rotational Maneuvers
5.3.3 Translational Maneuvers
5.3.4 Head Motion Control
5.4 Experiments and Discussion
5.4.1 Testing of Rotational Maneuvers
5.4.2 Testing of Backward Swimming
5.5 Discussion
5.6 Concluding Remarks
References
Control of Yaw and Pitch Maneuvers of a Multilink Dolphin
Robot
6.1 Introduction
6.2 Overview of the Dolphin Robot
6.3 Analysis and Control of Yaw Turn
6.3.1 Analysis of Yaw Turn
6.3.2 A Two-Segment Model for Yaw Turns
6.4 Analysis and Control of Pitch Turn
6.4.1 Analysis of Pitch Turn
6.4.2 Design of the Unbending Phase
6.4.3 Maintaining the Pitch Angle
6.5 Results and Discussions
6.5.1 Experimental Setup
6.5.2 Testing of Yaw Turns
6.5.3 Testing of Wide-Range Pitch Turns
6.6 Discussion
6.7 Concluding Remarks
References
7 Leaping Control of Self-propelled Robotic Dolphin
7.1 Introduction
7.2 Theoretical Analysis of Dolphin Leaping Motion
7.3 Motion Control of Leaping Robotic Dolphin
7.3.1 Prototype of Leaping Robotic Dolphin
7.3.2 AoA-Based Speed Control
7.3.3 Pitch Control
7.3.4 Roll Control
7.3.5 Yaw Control
7.3.6 Depth Control
7.4 Experiments and Re

本书围绕仿生机器鱼的高机动运动，结合仿生技术和智能控制方法，对仿生机器鱼的研制过程和机动控制进行了系统阐述，主要包括六方面内容：仿生鱼体波及鱼体形态学设计、机器鱼二维高机动精准控制、基于仿生CPG的机器鱼运动控制、机器鱼的三维机动转向控制、机器海豚俯仰及滚翻控制、机器海豚跃水运动控制。本书的每一章对所用机器鱼及机器海豚的平台研制、算法实现及实验验证均进行了详细介绍。各部分的内容既相互联系又相互独立，读者可根据自己的需要选择学习。