Jiarong Han — accepted AI-conference papers

2026

GVF-MPC Depth Control Framework Motivated by Restoring-Moment Mechanism Analysis for Bionic Robotic Fish

Jiarong Han, Xiangqing Yuan, Bo Yin, Yu Liu, Suli Zou, Zhihong Deng +1

RA-L 2026

Longitudinal oscillations are commonly observed in depth control of low-speed underwater platforms such as bio-inspired robotic fish. To investigate this issue, this letter conducts a quantitative analysis of the vertical-plane dynamics. It reveals the speed-dependent coupling between the depth and

Cited by 0 Source ↗Scholar ↗

2024

Data-Assisted Dynamic Modeling of Bionic Robotic Fish and Its Precise Speed Control

Jiarong Han, Shun Huang, Yingyu Yao, Zhongjing Ma, Yu Liu, Suli Zou +1

RA-L 2024

Dynamic modeling is essential for comprehending physical mechanisms and devising control strategies in bionic robot research. This letter introduces a novel dynamic modeling method that combines Lagrangian dynamics and data-assisted techniques for robotic fish with bionic morphology, multi-joint str

Cited by 5 Source ↗Scholar ↗