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Dynamic modeling and experimental validation of biomimetic robotic fish
Yu, Junzhi; Liu, Lizhong; Wang, Long
2006
Conference Name2006 American Control Conference
Source PublicationAmerican Control Conference
Conference DateJune 14, 2006 - June 16, 2006
Conference PlaceMinneapolis, MN, United states
AbstractThis 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.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13135
Collection个人空间
Corresponding AuthorYu, Junzhi
Affiliation Center for Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China
Recommended Citation
GB/T 7714
Yu, Junzhi,Liu, Lizhong,Wang, Long. Dynamic modeling and experimental validation of biomimetic robotic fish[C],2006.
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