CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Simplified propulsive model for biomimetic robot fish and its experimental validation
Yu, Junzhi; Wang, Shuo; Tan, Min
Source PublicationHigh Technology Letters
2005
Volume11Issue:4Pages:382–386
AbstractAs a combination of bio-mechanism and engineering technology, robot fish has become a multidisciplinary research that mainly involves both hydrodynamics-based control and actuation technology. This paper presents a simplified propulsive model for carangiform propulsion, which is a swimming mode suitable for high speed and high efficiency. The carangiform motion is modeled as an N-joint oscillating mechanism that is composed of two basic components: the streamlined fish body represented by a planar spline curve and its lunate caudal tail by an oscillating foil. The speed of fish's straight swimming is adjusted by modulating the joint s oscillating frequency, and its orientation is tuned by different joint s deflection. The results from actual experiment showed that the proposed simplified propulsive model could be a viable candidate for application in aquatic swimming vehicles.
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13109
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu, Junzhi
AffiliationInstitute of Automation, Chinese Academy of Sciences, Beijing 100080, China
Recommended Citation
GB/T 7714
Yu, Junzhi,Wang, Shuo,Tan, Min. Simplified propulsive model for biomimetic robot fish and its experimental validation[J]. High Technology Letters,2005,11(4):382–386.
APA Yu, Junzhi,Wang, Shuo,&Tan, Min.(2005).Simplified propulsive model for biomimetic robot fish and its experimental validation.High Technology Letters,11(4),382–386.
MLA Yu, Junzhi,et al."Simplified propulsive model for biomimetic robot fish and its experimental validation".High Technology Letters 11.4(2005):382–386.
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