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Parameter optimization of simplified propulsive model for biomimetic robot fish
Yu, Junzhi; Wang, Long
2005
Conference Name2005 IEEE International Conference on Robotics and Automation
Source PublicationIEEE International Conference on Robotics and Automation
Conference DateApril 18, 2005 - April 22, 2005
Conference PlaceBarcelona, Spain
AbstractThis paper is concerned with the parameter optimization for a simplified propulsive model of biomimetic robot fish propelled by a multiple linked mechanism. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-length-ratio is numerically calculated by an improved constrained cyclic variable method. The result is successfully applied to the 4-linked robot fish developed in our laboratory. The comparative experiments on forward swimming speed of the robot fish before and after parameter optimization verify the effectiveness of our method.
KeywordBiomimetic Robot Fish Underwater Robot Parameter Optimization Mechanical Design Constrained Cyclic Variable Method
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13142
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,Wang, Long. Parameter optimization of simplified propulsive model for biomimetic robot fish[C],2005.
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