Development of modular and reconfigurable biomimetic robotic fish with undulating fins

	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	复杂系统认知与决策实验室_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
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Low, K.H,Yu, Junzhi. Development of modular and reconfigurable biomimetic robotic fish with undulating fins[C],2007.