Motion Control of Biomimetic Swimming Robots

This book reports on the latest advances in the study of motion control in biomimetic swimming robots with high speed and high manoeuvrability. It presents state-of-the-art studies on various swimming robots including robotic fish, dolphins and jellyfish in a unified framework, and discusses the potential benefits of applying biomimetic underwater propulsion to autonomous underwater vehicle design, such as: speed, energy economy, enhanced manoeuvrability, and reduced detectability. Given its scope, the book will be of interest to researchers, engineers and graduate students in robotics and ocean engineering who wish to learn about the core principles, methods, algorithms, and applications of biomimetic underwater robots. 

Introduction.- Bio-inspired Fish Body Wave Model Considering Linear Density.- Motion Control of Fishlike Swimming in 2D.- CPG-based Swimming Control.- 3D Maneuvering Control of Robotic Fish.- Control of Yaw and Pitch Maneuvers of Robotic Dolphin.- Leaping Control of Self-propelled Robotic Dolphin.- Motion Control of Self-propelled Robotic Jellyfish.- Summary and Outlook.

Dr. Yu’s research interests include biomimetic robots, intelligent control, and intelligent mechatronic systems. In these areas, he (co-)authored 2 monographs, and published over 80 SCI papers in the prestigious robotics and automation related journals, among which 40 papers are published in IEEE Transactions journals (including 18 first-author papers). He was successively listed among Most Cited Researchers in China in 2014, 2015, and 2016. In addition, he has authorized 22 invention patents and 13 software copyright registrations. Some of the achievements have been applied to water quality monitoring and underwater robot competition, while some have been transferred and industrialized. He received the Humboldt Research Fellowship for Experienced Researchers from the Alexander von Humboldt Foundation in 2009, the First Prize of Beijing Science and Technology Award (in second place) in 2013, the Second Prize of National Natural Science Award (in third place) in 2017, as well as 9 Best Paper Awards like IEEE ROBIO Best Paper Award in Biomimetics. Currently he serves as Associate Editors of several top international journals involving IEEE Transactions on Robotics and IEEE/ASME Transactions on Mechatronics.