Parameter optimization of simplified propulsive model for biomimetic robot fish

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	Parameter optimization of simplified propulsive model for biomimetic robot fish
	Yu, Junzhi; Wang, Long
	2005
会议名称	2005 IEEE International Conference on Robotics and Automation
会议录名称	IEEE International Conference on Robotics and Automation
会议日期	April 18, 2005 - April 22, 2005
会议地点	Barcelona, Spain
摘要	This 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.
关键词	Biomimetic Robot Fish Underwater Robot Parameter Optimization Mechanical Design Constrained Cyclic Variable Method
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13142
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,Wang, Long. Parameter optimization of simplified propulsive model for biomimetic robot fish[C],2005.