Development of modular and reconfigurable biomimetic robotic fish with undulating fins
Low, K.H; Yu, Junzhi
2007
会议名称2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
会议录名称IEEE International Conference on Robotics and Biomimetics
会议日期December 15, 2007 - December 18, 2007
会议地点Yalong Bay, Sanya, China
摘要Different versions of biomimetic robotic fish mimicking undulating fins of Black Ghost Knifefish have been designed and developed. To mimic the actual flexible fin of real fish, an optimized fin-like propulsion mechanism is modelled with a series of connecting linkages for enhancing its propulsive performance. Motion studies for optimizing the undulating fins design have been conducted. Workspace and locomotion of the fin mechanism are derived and the parametric study of the locomotion is presented. With these studies, an optimal design providing the best workspace, which can drive the highest possible amplitude, have been developed. The manoeuvrability and buoyancy control can be achieved by the integration of mechatronics design of a buoyancy module with the undulating fin. The design philosophy of modularity was incorporated into the design of the fish. Hence, the modularity of the prototypes not only provides versatility for the robot system and also facilitates in the maintenance and future development of fish with undulating fins/body, as new modules can be added to replace the existing modules easily. By reconfiguring the components of NKF-II, other version of robotic fish with undulating fins/body is derived. This evolution of the undulating fins is also discussed.
关键词Biomimetic Robots Robotic Knifefish Undulating fins Robotic Eel
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13068
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Low, K.H
作者单位 School of Mechanical and Aerospace Engineering, Nanyang Technological University (NTTJ), Singapore 639798, Singapore (2) Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, P.O. Box 2728, Beijing 100080, China
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Low, K.H,Yu, Junzhi. Development of modular and reconfigurable biomimetic robotic fish with undulating fins[C],2007.
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