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Kinematic comparison of forward and backward swimming and maneuvering in a self-propelled sub-carangiform robotic fish
Wu, Zhengxing 1; Yu, Junzhi 1; Tan, Min 1; Zhang, Jianwei 2
Source PublicationJournal of Bionic Engineering
AbstractWe make a thorough kinematic comparison of forward and backward swimming and maneuvering on a self-propelled robot platform that uses sub-carangiform swimming as the primary propulsor. An improved Central Pattern Generator (CPG) model allowing free adjustment of phase relationship and directional bias is employed to achieve flexible swimming and smooth transition. Considering the characteristics of forward swimming incarangiform fish and backward swimming in anguilliform fish, various backward swimming patterns for the sub-carangiform robotic fish are suitably created by reversing the direction of propagating propulsive waves. Through a combined use of the CPG control and closed-loop swimming direction control strategy, flexible and precise turning maneuvers in both forward and backward swimming are implemented and compared. By contrast with forward swimming, backward swimming requires a higher frequency or an increased lateral displacement to reach the same relative swimmingspeed. Noticeably, the phase difference shows a greater impact on forward swimming than on backward swimming. Our observations also indicate that the robotic fish achieves a larger turning rate in forward maneuvering than in backward maneuvering, yet these two maneuvers display comparable turning precision. 
KeywordRobotic Fish Backward Swimming Central Pattern Generator (Cpg) Swimming Locomotion Control
Document Type期刊论文
Corresponding AuthorYu, Junzhi
Affiliation1. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
2. Department of Informatics, University of Hamburg, Hamburg, Germany
Recommended Citation
GB/T 7714
Wu, Zhengxing ,Yu, Junzhi ,Tan, Min ,et al. Kinematic comparison of forward and backward swimming and maneuvering in a self-propelled sub-carangiform robotic fish[J]. Journal of Bionic Engineering,2014,11(2):199-212.
APA Wu, Zhengxing ,Yu, Junzhi ,Tan, Min ,&Zhang, Jianwei .(2014).Kinematic comparison of forward and backward swimming and maneuvering in a self-propelled sub-carangiform robotic fish.Journal of Bionic Engineering,11(2),199-212.
MLA Wu, Zhengxing ,et al."Kinematic comparison of forward and backward swimming and maneuvering in a self-propelled sub-carangiform robotic fish".Journal of Bionic Engineering 11.2(2014):199-212.
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