Dynamic modeling of three-dimensional swimming for biomimetic robotic fish
Liu, Lizhong; Yu, Junzhi; Wang, Long
2006
会议名称2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
会议录名称IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
会议日期October 9, 2006 - October 15, 2006
会议地点Beijing, China
摘要This paper presents a three-dimensional, dynamic model of robotic fish which synthesizes both the carangiform and anguilliform swimming modes. The designed robotic fish is composed of three parts: stiff anterior body with a pair of pectoral fins for up-and-down motion, flexible rear body, and an oscillating lunate caudal fin. We use unsteady flow theory to analyze the motion of the anterior part and the links, and adopt experimental result from oscillating foil for the caudal fin. So the dynamic equation of each part can be obtained, and by summing up these equations, the dynamic equation for total swimming robot can be derived. The desired propulsive characteristics including forward velocity, sway velocity, pitch velocity, three velocity of Eulerian angles of the stiff anterior body, motion trajectory as well as propulsive efficiency can then be obtained by solving ordinary differential equation. The circular motion, based on asymmetrical kinematics of flexible rear body, can be achieved by adding different deflections to the oscillatory links. Comparisons between simulation results and real experiments are then conducted and discussed. A good agreement on dynamic characteristics demonstrates the validity of the proposed model.
关键词Biomimetic Robotic Fish Three-dimensional Circular Motion Dynamic Model Bio-propulsion
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13075
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Liu, Lizhong
作者单位Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China.(2)Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China
推荐引用方式
GB/T 7714
Liu, Lizhong,Yu, Junzhi,Wang, Long. Dynamic modeling of three-dimensional swimming for biomimetic robotic fish[C],2006.
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