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Dynamic modeling and experimental validation of biomimetic robotic fish
Yu, Junzhi; Liu, Lizhong; Wang, Long
2006
会议名称2006 American Control Conference
会议录名称American Control Conference
会议日期June 14, 2006 - June 16, 2006
会议地点Minneapolis, MN, United states
摘要This paper presents a dynamic model of robotic fish which synthesizes both the carangiform and anguilliform swimming modes. The designed robotic fish is divided into three parts: stiff anterior body, 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 basic airfoil theory for the caudal fin. By summing up the longitudinal force, lateral force and yaw moment on each propulsive component, the kinematic and dynamic equations of the swimming robotic fish can be derived. The desired propulsive characteristics including forward velocity, sway velocity, angular speed, motion trajectory as well as propulsive efficiency can then be obtained via solving ordinary differential equation. 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.
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13135
专题个人空间
通讯作者Yu, Junzhi
作者单位 Center for Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China
推荐引用方式
GB/T 7714
Yu, Junzhi,Liu, Lizhong,Wang, Long. Dynamic modeling and experimental validation of biomimetic robotic fish[C],2006.
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